Transport Device for Receiving one or more Module Units Having Machine Tool Accessory Devices and for Transporting the one or more Received Module Units

ABSTRACT

The present invention relates to a transport device (100) for receiving one or more module units having machine tool accessory devices and for transporting the one or more received module units to a machine tool (1000) set up on a base surface for use of the machine tool accessory devices of the one or more received module units on the machine tool (1000), wherein the transport device (100) is freely movable on the base surface for positioning the one or more received module units relative to the machine tool (1000), in particular within a region in front and/or next to the machine tool (1000) and/or in front and/or next to a working space of the machine tool (1000).

DESCRIPTION

The present invention relates to a transport device for receiving one ormore module units having machine tool accessory devices and fortransporting the one or more received module units. Furthermore, thepresent invention relates to a system with the transport device and acentral control device.

BACKGROUND OF THE INVENTION

Transport vehicles for picking up and transporting goods within aworkshop are known. The best-known examples are forklifts and partlymotorized lift trucks. It is a declared goal for such deliveries bycorresponding vehicles to continue to increase the level of automationand preferably to synchronize the deliveries with the productionprocesses.

The preferred choice for this purpose are driverless transport systems,or FTSs for short, which, in addition to driverless transport vehicles,or FTFs for short, also have specified places for picking up ordepositing goods to be transported by the transport vehicles, possiblyalso specifically arranged places or stops, for example for preparingthe goods being transported for the upcoming production process.

However, FTSs guiding the transport vehicles to the respective stationsby a rail system prove to be disadvantageous. Such a rail system is notonly very complex with regard to manufacture, arrangement and alignmentof the rails and rail segments with respect to one another. It is alsomerely configured for one specific case and can therefore not react orbe adapted to changes in the positions of the places or the productionprocess at short notice.

Such systems are therefore immensely disadvantageous with respect toflexibility.

Furthermore, the currently known FTSs have the disadvantage that theFTTs are usually only equipped with an interface for receiving transportgoods or corresponding technical devices etc., so that these vehiclesoften have to travel long distances to get a large number of containersto their respective destination or to bring the corresponding technicaldevices to their site of operation.

SUMMARY OF THE INVENTION

Therefore, it is an object of the present invention to provide atransport device for receiving one or more module units having machinetool accessory devices and for transporting the one or more receivedmodule units such that the above problems can be avoided.

Furthermore, it is an object of the present invention to provide asystem including the transport device and a central control device.

These objects are achieved by a transport device according to claim 1and a system according to claim 30. The dependent claims relate toadvantageous exemplary embodiments of the transport device according tothe invention and the system according to the invention.

The transport device according to the invention for receiving one ormore module units having machine tool accessory devices and fortransporting the one or more received module units to a machine tool setup on a base surface for using the machine tool accessory devices of theone or more received module units at the machine tool, wherein thetransport device is freely movable on the base surface for positioningthe one or more received module units relative to the machine tool, inparticular within a region in front of and/or next to the machine tooland/or in front of and/or next to a work space of the machine tool.

By means of the transport device according to the invention, a widevariety of manufacturing processes can be supported so that theindividual processing steps can be carried out in a smooth andparticularly efficient manner.

In particular, the configuration of the transport device according tothe invention advantageously allows for customized and free positioningof the transport device in front of the machine tool or in front of thework space of the machine tool without having to rely on a type of railsystem or the like.

In addition, various auxiliary work can be performed on an existingmachine tool by the transport device according to the invention in orderto increase the efficiency of manufacture.

It should be noted in particular that one of the transport devicesaccording to the invention can take over both a single task by means ofa machine tool accessory device, but also a plurality of tasks at thesame time by receiving a plurality of machine tool accessory devices.

Furthermore, the various machine tool accessory devices or modular unitsmay be combined with one another completely freely, depending on whichmanufacturing and/or auxiliary work has to be performed on the machinetool.

In this way, the manufacturing processes can be rendered extremelyflexible and efficient.

The transport device according to the invention may advantageously befurther developed in that the transport device, by means of moving onthe base surface, is configured to position the one or more module unitswithin a region in front of and/or next to the work space of the machinetool along the spatial directions spanning the region.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the transport device has oneor more receiving devices for receiving respective module units.

Moreover, the transport device according to the invention canadvantageously be further developed in that at least one of the one ormore receiving devices includes a centering device configured to alignthe module unit received with the receiving device.

In this way, a positioning inaccuracy of the module unit (or anotherdevice such as handling device, pallet holders, material boxes, etc.)with respect to the machine tool or another device (such as setupstation, storage station, magazine station, etc.) can be compensated forwhen the module unit is deposited/docked on the machine tool. Thecentering device allows the transport device to correct the relativeposition of the module unit received with respect to the transportdevice and thus obtain a positioning inaccuracy of the module unit withrespect to the machine tool which essentially only stems from thepositioning inaccuracy of the transport device.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the at least one of the oneor more receiving devices which includes a centering device alsoincludes a drive for linear displacement of the receiving device in thedirection of the centering device.

For aligning/centering the module unit received with respect to thetransport device, it may also be advantageous when an additional driveis available which is able to move the receiving device in the directionof the centering device (or in the opposite direction) in order todeliver the module unit received to the centering device and thus toassist in centering/aligning.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that at least one receivingdevice is provided on at least one side of the transport device,preferably at least one receiving device being provided on at least twosides of the transport device, particularly preferably at least onereceiving device being provided on each side of the transport device.

Thereby, the transport device according to the invention is now able toreceive a large number of modules/modular units in order to assist inthe manufacturing processes on the machine tools. In addition, a widevariety of modules can be combined with one another and transported tothe respective machine tool or to the respective machine tools.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the module unit isconfigured to be deposited and/or docked by the transport unit on areceptacle of the machine tool configured to receive the module unit.

Here, the transport device acts as a delivery unit for the machine toolby bringing a wide variety of modules/devices to the machine tool andplacing them there (for example on a receptacle configured for thispurpose) or docking them there (also on a receptacle configured for thispurpose). The receptacles may comprise conical receptacles which, forexample, also have connection options for energy and/or signals.Connections for fluids (such as cooling lubricants) may also be providedat the cones,

In addition, the transport device according to the invention mayadvantageously be further developed in that the one or more receivingdevices have connection elements, in particular for establishing anelectrical, hydraulic and/or pneumatic connection, in particular for thetransmission of control signals and/or energy from the transport deviceto the respective module unit.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that, when the module unit isreceived, the connection elements automatically establish a connectionwith the respective module unit for the transmission of electrical,pneumatic and/or hydraulic control signals and/or energy.

In this way, various modular units can now be received and depositedagain independently by the transport device with a high degree ofautomation.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the receiving devices eachhave a control device for monitoring the state of the receptacle of therespective module unit.

In this way, certainty regarding the correct reception of the moduleunits by the transport device can be ensured.

In addition, the transport device according to the invention mayadvantageously be further developed in that the control device isconfigured to monitor the control signals, the energy transmission,and/or a locking state of the module unit received on the respectivereceiving device.

The signals and the energy transfer may also be monitored in this way.In the event of a malfunction, for example, the transport device inquestion may move to a maintenance position for control purposes and theproblem can be localized accordingly.

Moreover, an advantageous further development of the transport deviceaccording to the invention is that a plurality of receiving devices ofthe transport device are uniformly configured.

In this way, a wide variety of modules/module units can be received atthe uniformly configured receiving devices. In particular, such a“standardization” of the receiving devices makes it possible to switchback and forth between the individual modules for the receiving deviceso that not only one receiving device is suitable for a module.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the transport devicecomprises a driverless transport vehicle.

Particularly advantageously, this allows for the degree of automation ofthe entire production to be increased many times over, since thecoordination and generally the control of the driverless transportvehicles or transport devices can be carried out, for example, by acentral computer/control device so that a worker primarily has amonitoring function.

In addition, the transport device according to the invention mayadvantageously be further developed by: a drive for moving the transportvehicle, and a control unit for controlling the transport device.

Furthermore, the transport device according to the invention mayadvantageously be further developed by an internal energy storesupplying the transport device with energy, in particular electricalenergy.

Moreover, the transport device according to the invention mayadvantageously be further developed by a sensor unit comprising one ormore optical, infrared and/or radar sensors for monitoring theenvironment of the transport device.

In addition to providing a time-limited, self-sufficient energy supplyof the transport device, this ensures the safety of the surroundings, inparticular people who are present in the workshop and may be walkingaround, since the transport devices register them and can accordinglytrigger a safety function if a collision occurs or is imminent.

Furthermore, the transport device according to the invention mayadvantageously be further developed by a plurality of wheels for movingor displacing the transport device, one, several or all wheels of thetransport device being individually controllable and/or steerable.

In particular, the transport device according to the invention mayadvantageously be further developed in that one, a plurality or all ofthe wheels of the transport device are configured as individuallycontrollable Mecanum wheels.

Since they are already widely known in robotics, Mecanum wheels may alsobe used advantageously for the transport device in order to also ensuregreat flexibility in the movement or in the possibilities of movement ofthe transport device.

Moreover, the transport device according to the invention mayadvantageously be further developed by one or more drive chains formoving or displacing the transport device.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the transport device isconfigured to receive one of the one or more module units at a storagestation and to transport it from the storage station to the machinetool.

In this way, the transport device may particularly advantageously serveas a delivery vehicle for supplying the machine tools with the requiredauxiliary modules and to also deposit them there in order to take overother tasks.

A further advantageous development of the transport device according tothe invention is that the transport device is configured to establish aconnection between one or more connection elements of the transportdevice and one or more connection elements of the module unit when therespective module units are received, in particular for the transmissionof control signals and/or energy from the transport device to the moduleunit.

In this way, the degree of automation can be increased further since anautonomous connection between the transport device and the module/moduleunit can be established by the transport device.

In addition, the transport device according to the invention mayadvantageously be further developed in that the transport device isconfigured to communicate with an external control device, in particularwith a central control device configured to be connected to a pluralityof transport devices at the same time, in particular by means of awireless communication link, and to control the plurality of transportdevices, in particular by automatic remote control.

Furthermore, the transport device according to the invention may also beadvantageously further developed in that the transport device isconfigured to communicate with a control device of the machine tool viaa communication interface, in particular in such a way that the one ormore received module units are controllable by the control device of themachine tool by means of a communication link via the communicationinterface.

In this way, the central control device can be used to communicate withthe transport devices and with the modules received by the transportdevices and to control them if required.

Moreover, the transport device according to the invention mayadvantageously be further developed in that the communication interfacecomprises a wireless communication interface and the transport device isconfigured to communicate with the control device of the machine tool bymeans of the wireless communication interface via wireless communicationlink.

In addition, the transport device according to the invention may beadvantageously further developed in that the transport device includes adocking device and is configured to dock, by means of the dockingdevice, at a docking station of the machine tool, a docking station of asetup station of a manufacturing system having the machine tool, and/ora docking station of an automation device of a manufacturing systemhaving the machine tool.

The transport devices may communicate with the machine tools via a widevariety of docking stations and also transmit energy. It may beadvantageous if the docking station is provided on a base surface sincethe transport devices can travel there without any problems and cansubsequently connect to the docking stations on the base surface viatheir docking devices.

In addition, the transport device according to the invention mayadvantageously be further developed in that the transport device isconfigured to communicate with the control device of the machine toolvia the docking device coupled to the communication interface when it isdocked on the docking station of the machine tool having thecommunication interface.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the transport device isconfigured to position itself and/or the one or more received moduleunits with respect to the machine tool by docking at the docking stationof the machine tool, with respect to the setup station by docking at thedocking station of the setup station, and/or with respect to theautomation device by docking at the docking station of the automationdevice.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the transport device isconfigured to move between docking stations of the manufacturing system,in particular comprising moving between docking stations of differentmachine tools of the manufacturing system.

In addition, the transport device according to the invention may alsoadvantageously be further developed in that the docking device of thetransport device is configured to raise and/or lower the transportdevice for docking at the docking station.

This is particularly advantageous if, in addition to the docking, thetransport device and/or the received module(s) are to be aligned at thesame time.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the transport device isconfigured to move to a module loading station configured for theprovision of module units and/or storage of module units, in particularto equip the transport device with one or more module units at themodule loading station and/or for exchanging one or more modular unitsof the transport device at the module loading station.

The transport device according to the invention may also advantageouslybe developed in that each of the one or more modular units includes amachine tool accessory device usable at the machine tool.

In particular, the transport device according to the invention mayadvantageously be further developed in that the machine tool accessorydevice comprises: a handling device configured to handle a pallet and/ora workpiece at the machine tool, an industrial robot, in particular forhandling tools, workpieces and/or workpiece pallets, a tool changingdevice for carrying out a tool change on the machine tool, a toolstorage device or a tool magazine for providing tools at the machinetool, a tool storage device with a tool changing device for providingtools at the machine tool and for carrying out a tool change at themachine tool, a workpiece changing device for carrying out a workpiecechange at the machine tool, a chip collection device for collectingchips at the machine tool or in the work space of the machine tool, achip conveyor device for removing chips from the machine tool or fromthe workspace of the machine tool, a workpiece loading device forloading workpieces at the machine tool, in particular a bar loader foruse on a machine tool configured as a turning machine, a coolant supplydevice for supplying coolant at the machine tool, a coolant exchangedevice for exchanging coolant at the machine tool, a workpiece measuringdevice for measuring a workpiece at the machine tool, in particular withan optical, electromagnetic and/or tactile measuring device, a workpiecedeburring device for deburring a workpiece at the machine tool, a toolsetup device for setting up tools at the machine tool, a tool dressingdevice for dressing tools at the machine tool, in particular fordressing grinding tools at the machine tool, a tool sharpening devicefor sharpening tools at the machine tool, a suction device for suctionin the work space of the machine tool, a workpiece receptacle forreceiving a workpiece, a conveyor device for conveying workpieces, inparticular comprising one or more conveyor belts or conveyor beltportions, a spare part exchange device for exchanging accessory parts orspare parts at the machine tool.

Furthermore, the transport device according to the invention mayadvantageously be further developed in that the one or more modularunits comprise: a handling module unit with a handling device configuredto handle a pallet and/or a workpiece at the machine tool, a robotmodule unit with an industrial robot, in particular for handling tools,workpieces and/or workpiece pallets, a tool change module unit with atool change device for performing a tool change on the machine tool, atool storage module unit with a tool storage device or a tool magazinefor providing tools at the machine tool, a tool storage and toolchanging module unit with a tool storage device with a tool changingdevice for providing tools at the machine tool and for performing a toolchange on the machine tool, a workpiece changing module unit with aworkpiece changing device for performing a workpiece change on themachine tool, a chip collecting module unit with a chip collectingdevice for collecting chips at the machine tool or in the work space ofthe machine tool, a chip conveying module unit with a chip conveyingdevice for removing chips from the machine tool or from the workingspace of the machine tool, a workpiece loading module unit with aworkpiece loading device for loading workpieces at the machine tool, inparticular a bar loader for use at a machine tool configured as aturning machine, a coolant supply module unit with a coolant supplydevice for supplying coolant to the machine tool, a coolant exchangemodule unit with a coolant exchange device for exchanging coolant at themachine tool, a workpiece measuring module unit with a workpiecemeasuring device for measuring a workpiece at the machine tool, inparticular with an optical, electromagnetic and/or tactile measuringdevice, a workpiece deburring module unit with a workpiece deburringdevice for deburring a workpiece at the machine tool, a tool setupmodule unit with a tool setup device for setting up tools at the machinetool, a tool dressing module unit with a tool dressing device fordressing tools at the machine tool, in particular for dressing grindingtools at the machine tool, a tool sharpening module unit with a toolsharpening device for sharpening tools at the machine tool, a suctionmodule unit with a suction device for suction in the work space of themachine tool, a workpiece receptacle module unit with a workpiecereceptacle for receiving a workpiece, a conveyor module unit with aconveyor device for conveying workpieces, in particular comprising oneor more conveyor belts or conveyor belt portions, a spare parts exchangemodule unit with a spare parts exchange device for exchanging accessoryparts or spare parts at the machine tool.

The system according to the invention comprising one or more transportdevices according to the invention and a central control deviceconfigured to be connected to the one or more transport devices, inparticular by means of a wireless communication link, and to control theplurality of transport devices, in particular by automatic remotecontrol.

By means of the transport device according to the invention, theproduction and machining process of workpieces can be rendered much moreflexible. In addition, the transport device according to the inventioncan be used both with existing manufacturing structures and forcompletely new processes for manufacturing and machining workpieces.

In addition, the transport device according to the invention offers theclear advantage of not being restricted to any tasks within theproduction chain/within the production process due to its flexible usageoptions.

Hereinafter, examples of a transport device, a machine tool and a methodfor handling a pallet or a workpiece and their respective advantageswill be described.

An exemplary transport device for transporting a handling device forhandling a pallet and/or a workpiece to a machine tool for machining theworkpiece, wherein the machine tool including a work spindle forreceiving a tool or the workpiece and a pallet for receiving the tool orthe workpiece is further configured to position the handling devicewithin a region in front of a work space of the machine tool along thespatial directions spanning the region.

The exemplary transport device makes it possible to dispense entirelywith rail systems for guiding the transport vehicles since the transportvehicles can move freely on a plane such as the hall floor.

In addition, this allows for the vehicles and their “trajectories” to beindividually adapted to the circumstances, thus allowing for asignificant increase in flexibility in production and logistics.

Furthermore, the exemplary transport device has a large number ofinterfaces at which a wide variety of handling devices such as palletchangers, robots, containers and boxes, etc. can be received, which canfurther increase flexibility in the production process as well as in thearea of logistics.

The exemplary transport device may advantageously be further developedin that the transport device is further a driverless transport vehiclecomprising a platform including a plurality of receiving devices forreceiving handling devices, a drive for moving the platform, and acontrol unit for controlling the receiving devices and the drive of theplatform.

In order to increase the degree of automation, the exemplary transportdevice is configured as a driverless transport vehicle with appropriatecontrol and networking such that even a plurality of transportvehicles/transport devices can be moved in a coordinated manner.

The exemplary transport device may advantageously be further developedin that at least one receiving device is provided on at least one sideof the transport device, preferably at least one receiving device isprovided on at least two sides of the transport device, and particularlypreferably at least one receiving device is provided on each side of thetransport device.

In this way, significantly more technical devices and/or containers cannow be brought to their respective destination with just one trip thanpossible with previously known transport vehicles.

The exemplary transport device may advantageously be further developedin that the platform further includes an internal energy store supplyingthe receiving devices, the drive and the control unit of the platformwith energy, in particular electrical energy.

In this way, the transport device can move freely through factory hallsand production or manufacturing areas without the need to provide acomplex routing system for cables for energy and/or signal transmission.

The exemplary transport device may advantageously be further developedin that the control unit further includes a sensor unit comprisingoptical, infrared and/or radar sensors for monitoring the environment ofthe transport device.

For monitoring the environment and detecting any obstacles, it isadvantageous to provide such sensors on a driverless transport vehicle.This also increases the protection of the factory workers in the hall.

The exemplary transport device may advantageously be further developedin that the transport device is further configured to deposit thehandling device after it has been positioned on the machine tool.

This possibility is particularly advantageous in that the transportdevice does not have to remain in place along with the handling device,but can transport other handling devices while, for example, thedeposited handling device performs its function on the respectivemachine tool.

The exemplary transport device may advantageously be further developedin that the receiving devices further include connection elementsconfigured for a transmission of control signals and/or energy from thetransport device to the handling device.

In this way, energy and signals for controlling the handling device canadvantageously be transmitted from the transport device to the handlingdevice. This is particularly advantageous because the transport devicecan be in contact with a central main computer control (via radiosignal, WLAN, etc.) and thereby all handling devices that are beingmoved by transport devices at the time can be controlled.

The exemplary transport device may advantageously be further developedin that, when the handling device is received, the connection elementsof the receiving devices of the transport device automatically establisha connection with the handling device for the transmission of controlsignals and/or energy.

This eliminates the manual intervention of a factory worker and allowsfor the degree of automation of the production and logistics processesto be increased further.

The exemplary transport device may advantageously be further developedin that the receiving devices each include a control device formonitoring the status of the reception of the respective handlingdevice.

The exemplary transport device may advantageously be further developedin that the control device is configured to monitor the control signals,the energy transfer, and/or a locking state of the handling devicereceived on the respective receiving device.

This is particularly advantageous in order to avoid malfunctions of thehandling devices that could possibly occur and to ensure the safety ofthe handling device on the transport device as well as the safety of theworkers in the immediate vicinity of the handling device.

In addition, faulty receptacles or faulty components (damaged contactsof the connections for energy and/or signal transmission, etc.) can belocalized more quickly and thus can be replaced/repaired more quickly.

The exemplary transport device may advantageously be further developedin that the drive includes a plurality of wheels for moving theplatform, the wheels being individually controllable and/or steerable.

In particular, it is advantageous if the wheels can be controlled orsteered separately from one another as individual units, whereby themobility and maneuverability of the transport device can besignificantly improved in comparison with vehicles with only a steerableaxle.

The exemplary transport device may advantageously be further developedin that the wheels are configured as individually controllable Mecanumwheels.

The great advantage of Mecanum wheels is that steering of the wheels canbe omitted entirely and that the direction of travel or the direction ofrotation of the transport device can be controlled solely by thedirection of rotation of the individual wheels. The prerequisite for thefunction of Mecanum wheels is that each wheel always has sufficientcontact with the ground.

The exemplary transport device may advantageously be further developedin that the drive includes a large number of chains for moving theplatform.

In addition to the classic wheels and Mecanum wheels, chains may also beused to move the transport device. This may be advantageous when thetransport device has to carry large loads and these loads must/should bedistributed over the largest possible area of the ground on which thetransport device is traveling.

The exemplary transport device may advantageously be further developedin that the handling device is a pallet changer for exchanging thepallet in the machine tool and the pallet changer is configured forexchanging the pallet in the work space and/or at a setup station of themachine tool.

In particular, it is advantageous if the handling device that can betransported by the transport device is a pallet changer. In this way,various pallets can be transported to the individual machine tools andinserted or exchanged with just one pallet changer and one transportdevice.

The exemplary transport device may advantageously be further developedin that the pallet changer has a receiving claw or a fork-shapedreceptacle for receiving the pallet.

The exemplary transport device may advantageously be further developedin that the handling device is an industrial robot for handling and/ormachining the workpiece.

However, it may also be extremely advantageous for the transport deviceto receive, in addition to or instead of the pallet changer, a robot(industrial robot) and to transport it to machine tools or processingstations where a robot is needed. This may be for workpiece handlingtasks (e.g., fitting the machine table/pallet or the work spindle withworkpieces, exchanging tools on a work spindle or a tool turret,post-processing workpieces such as burr removal, etc.). The areas ofapplication of a robot in the field of machining are manifold.

The exemplary transport device may advantageously be further developedin that the receiving devices of the transport device are furtherconfigured to receive material carriers, in particular mesh boxes withunfinished and/or finished parts, and to receive an exchange gripper.

The exemplary transport device may advantageously be further developedin that the receiving devices of the transport device are of configureduniformly.

In particular, it is advantageous if the receiving devices by means ofwhich the handling devices such as pallet changers, robots, materialpallets, mesh boxes, etc. can be received by the transport device, areuniform, that is to say standardized. In this way, all conceivablehandling devices can be provided with one or the same interface, so thatregardless of which handling device is to be received, the connectionfor energy and/or signal transmission can be established automatically.

An exemplary machine tool for machining a workpiece comprises: a workspindle for receiving a tool or the workpiece, a pallet for receivingthe tool or the workpiece, and a handling device for handling the palletand/or the workpiece, wherein the handling device can be positioned onthe machine tool by an exemplary transport device.

This offers a number of advantages, since the transport device can bringany handling device to the machine tool that is required or evennecessary for the respective pending machining steps. The machine tool,in particular the equipment with workpieces and/or tools, can obtain ahigher degree of automation and autonomous work times of the machinetools can be extended.

The exemplary machine tool may advantageously be further developed inthat the machine tool further includes positioning devices for spatialpositioning of the handling device with respect to the machine tool incase the handling device is deposited on the machine tool by thetransport device.

Exact positioning of the handling device may not only be advantageous,but also necessary, for example when pallets have to be placed veryprecisely on a pallet holder or for example when equipping operations orpost-processing of a workpiece must be carried out with a robot at smalltolerances.

The exemplary machine tool may advantageously be further developed inthat the positioning devices include connection elements configured forthe transmission of control signals and/or energy from the machine toolto the deposited handling device.

In this way, energy and signals for controlling the handling device canadvantageously be transmitted from the machine tool to the handlingdevice and thus be independent of the transmission of the energy or thesignals on the part of the transport device.

The exemplary machine tool may advantageously be further developed inthat the connection elements of the positioning devices of the machinetool automatically establish a connection with the handling device forthe transmission of control signals and/or energy when the handlingdevice is deposited by the transport device.

In this way, the degree of automation can advantageously be increasedfurther and manual intervention by a worker can be eliminated.

An exemplary method for handling a pallet and/or a workpiece on theexemplary machine tool comprises the steps of: receiving a handlingdevice for handling the pallet and/or the workpiece by means of theexemplary transport device from a storage station, transporting thehandling device by means of the transport device from the storagestation to the machine tool, positioning the handling device by means ofthe transport device on the machine tool, in particular in front of awork space of the machine tool, and handling the pallet and/or theworkpiece by means of the handling device on the machine tool.

The exemplary method may advantageously be further developed in that,during the step of receiving the handling device, a connection isestablished between the transport device and the handling device bymeans of connecting elements of the transport device, via which controlsignals and/or energy are transmitted from the transport device to thehandling device.

The exemplary method may advantageously be further developed in that thefollowing steps are carried out before the step of handling the palletand/or the workpiece: depositing the handling device in front of theworkspace of the machine tool by the transport device, and positioningthe handling device by positioning devices of the machine tool.

The exemplary method may advantageously be further developed in that,when the handling device is deposited, the positioning devices of themachine tool are establishing a connection between the machine tool andthe handling device by means of connection elements of the machine tool,via which control signals and/or energy are transmitted from the machinetool to the handling device.

The exemplary method may advantageously be further developed in that,before the step of handling the pallet and/or the workpiece, thefollowing steps are performed: severing the connection for thetransmission of control signals and/or energy from the transport deviceto the handling device, and moving the transport device further from themachine tool to the storage station or another machine tool.

The exemplary method may advantageously be further developed in that,after the step of handling the pallet and/or the workpiece, thefollowing steps are performed: receiving the handling device from thepositioning devices of the machine tool by the transport device, whereinduring reception of the handling device the connection for thetransmission of control signals and/or energy from the machine tool tothe handling device is severed, and moving the transport device with thehandling device received again further from the machine tool to thestorage station or to another machine tool.

The exemplary method may advantageously be further developed in that acentral computer unit is connected to the control unit of the transportdevice for controlling the individual steps, the central computer unitbeing configured to be connected to and control a plurality of transportdevices at the same time.

By using the exemplary transport device, the flexibility in theproduction processes could be significantly improved and changes inproduction could be responded to quickly.

Further aspects and their advantages as well as advantages and morespecific implementation options of the aspects and features describedabove are described with the following descriptions and explanations ofthe attached figures, which are in no way to be considered restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically shows an embodiment of the transport deviceaccording to the invention with receiving devices for receiving handlingdevices.

FIG. 2a schematically shows a detailed view of a receiving device forreceiving handling devices.

FIG. 2b schematically shows a further embodiment of the receiving deviceof the transport device for receiving a handling device.

FIG. 2c schematically shows a further embodiment of the receivingdevice, this time without the drive.

FIG. 2d schematically shows a connector which can transmit media, energyand signals from the receiving device to the received device.

FIG. 3 schematically shows an embodiment of the transport deviceaccording to the invention, exemplary with a pallet changer and apallet.

FIG. 4a schematically shows an embodiment of the transport deviceaccording to the invention during a pallet change, the transport devicecarrying out a rotation.

FIG. 4b schematically shows the transport device according to theinvention with an embodiment of a fork-shaped pallet changer.

FIG. 5 schematically shows an embodiment of the transport deviceaccording to the invention during a pallet change, the transport deviceremaining in its position and the pallet changer, an H-shaped palletchanger as shown in FIG. 3, rotating.

FIG. 6 schematically shows an embodiment of the transport deviceaccording to the invention during a pallet change, the pallet changerbeing configured as double H and being able to rotate as shown.

FIG. 7 schematically shows an embodiment of the transport deviceaccording to the invention during a pallet change, the pallet changerbeing able to receive the pallets with a 60° partition.

FIG. 8 schematically shows an embodiment of the transport deviceaccording to the invention with a displaceable pallet changer.

FIG. 9a schematically shows an embodiment of the transport deviceaccording to the invention including a pallet changer with an adjustablefork width.

FIG. 9b schematically shows an embodiment of the transport deviceaccording to the invention including a pallet changer with an adjustablefork length.

FIG. 10 schematically shows an embodiment of the transport deviceaccording to the invention with a pallet changer for a multi-levelpallet depository.

FIG. 11 schematically shows a further embodiment of the transport deviceaccording to the invention with a pallet changer for a multi-levelpallet depository.

FIG. 12a schematically shows the transport device according to theinvention when loading a circular store of a machine tool with pallets.

FIG. 12b schematically shows a transport device according to theinvention when loading an intermediate storage on which pallets orpallet holders can be provided to a feed device by docking on areceptacle of the intermediate storage.

FIG. 12c schematically shows a transport device according to theinvention when loading a pallet changer.

FIG. 13 schematically shows an exemplary embodiment of a linear storagefor pallet handling with a plurality of setup stations and storagestations and a plurality of machine tools.

FIG. 14a schematically shows a positioning of a pallet changer at astorage station by means of conical receptacles.

FIG. 14b schematically shows a positioning of a pallet changer in astorage station with roller technology.

FIG. 15 schematically shows a positioning of the transport deviceaccording to the invention on a machine tool by means of a prism.

FIG. 16a schematically shows a positioning of the transport deviceaccording to the invention on a machine tool by means of conicalreceptacles.

FIG. 16b schematically shows a further embodiment of the transportdevice according to the invention during positioning and energy and/orsignal connection establishment by means of conical receptacles.

FIG. 16c schematically shows a transport device according to theinvention, wherein a pallet holder with a pallet docks to a palletholder receptacle by means of the transport device.

FIG. 16d schematically shows a further embodiment of the transportdevice according to the invention with a pallet holder.

FIG. 16e schematically shows a further embodiment of the transportdevice according to the invention with a pallet holder.

FIG. 16f schematically shows a further embodiment of the transportdevice according to the invention with a pallet holder, similar to whatis already known from FIG. 16 e.

FIG. 16g shows the state of the transport device according to theinvention from FIG. 16f when only the pallet was received by thereceptacle.

FIG. 16h shows the state of the transport device according to theinvention from FIG. 16f when the pallet holder along with the pallet wasreceived by the receptacle.

FIG. 16i shows a configuration of a receptacle of a machine tool forreceiving a pallet holder and/or pallet.

FIG. 16j shows the configuration of the receptacle of a machine tool asshown in FIG. 16i , but from a different perspective for a betteroverview of the individual components of the receptacle.

FIG. 17a schematically shows an embodiment of the transport deviceaccording to the invention with height adjustment of the transportdevice according to the invention by means of lifting cylinders.

FIG. 17b schematically shows a further embodiment of the transportdevice according to the invention with height adjustment of thetransport device according to the invention by means of liftingcylinders and a suspension.

FIG. 18a schematically shows an embodiment of the transport deviceaccording to the invention with a pallet holder and a pallet.

FIG. 18b schematically shows a further embodiment of the transportdevice according to the invention with a pallet holder and a pallet.

FIG. 19 schematically shows an embodiment of the transport deviceaccording to the invention with height adjustment of the receivingdevice for receiving handling devices of the transport device accordingto the invention.

FIG. 20a schematically shows a further embodiment of the transportdevice according to the invention with a pallet changer and a hood toprotect the pallet being transported.

FIG. 20b schematically shows a further embodiment of the transportdevice according to the invention which transports a pallet into a workspace of a machine tool.

FIG. 20c schematically shows a further embodiment of the transportdevice according to the invention which transports a pallet into a workspace of a machine tool.

FIG. 21a schematically shows a hall floor/plate with cones in agrid-like arrangement for positioning the transport devices or handlingdevices.

FIG. 21b shows a further option of providing the cones on the undersideof the transport device for positioning.

FIG. 22a schematically shows a further embodiment of the transportdevice according to the invention with an industrial robot as thehandling device.

FIG. 22b schematically shows two more specific exemplary embodiments ofthe transport device according to the invention with a robot forhandling tools or workpieces.

FIG. 23 schematically shows a further embodiment of the transport deviceaccording to the invention with an industrial robot and a measuring unitfor tool testing.

FIG. 24a schematically shows a further embodiment of the transportdevice according to the invention with an industrial robot and measuringand testing means for component testing.

FIG. 24b shows a detailed view of the embodiment of the transport deviceaccording to the invention as shown in FIG. 24 a.

FIG. 25 schematically shows a further embodiment of the transport deviceaccording to the invention with an industrial robot and an attachmentfor post-processing components.

FIG. 26 schematically shows a further embodiment of the transport deviceaccording to the invention with an industrial robot and a unit forsharpening and dressing tools.

FIG. 27 schematically shows a further embodiment of the transport deviceaccording to the invention with an industrial robot and a magazine forcarrying along various tools.

FIG. 28 schematically shows the embodiment of the transport deviceaccording to the invention in FIG. 21 during the interaction of theindustrial robot with a work spindle of a machine tool, for example inorder to exchange the tool.

FIG. 29a schematically shows a further embodiment of the transportdevice for chip removal according to the invention at a chip cart of amachine tool.

FIG. 29b schematically shows a further embodiment of the transportdevice for chip removal according to the invention with a liftingmechanism and an additional chip container.

FIG. 29c schematically shows a further embodiment of the transportdevice, wherein the module for trapping the chips is received on theupper side of the transport device.

FIG. 30 schematically shows a further embodiment of the transport deviceaccording to the invention for conditioning and refilling a machine toolwith cooling lubricant.

FIG. 31 schematically shows a further embodiment of the transport deviceaccording to the invention for delivering and inserting workpieces intoa machine tool for turning.

FIG. 32a schematically shows a further embodiment of the transportdevice according to the invention as a material store for a machine toolwith a gantry loader.

FIG. 32b schematically shows a further embodiment of the transportdevice according to the invention as a material store for a machine toolwith a robot for exchanging workpieces in the machine tool.

FIG. 33a schematically shows a further embodiment of the transportdevice according to the invention as a conveyor belt between two machinetools with gantry loader.

FIG. 33b schematically shows a detailed view of the transport deviceaccording to the invention as shown in FIG. 33 a.

FIG. 33c schematically shows a further embodiment of the transportdevice according to the invention with a foldable conveyor belt.

FIG. 34 schematically shows a further embodiment of the transport deviceaccording to the invention for the auxiliary suction of the work spaceof a machine tool.

FIG. 35 schematically shows a further embodiment of the transport deviceaccording to the invention with a robot and an application device foradditive manufacturing received by the robot.

FIG. 36 schematically shows a further embodiment of the transport deviceaccording to the invention with a tool changer, a changer-storagecombination or a tool store.

FIG. 37 schematically shows a further embodiment of the transport deviceaccording to the invention for transporting milling heads to a machinetool.

FIG. 38 schematically shows a further embodiment of the transport deviceaccording to the invention with a workpiece receptacle for large parts.

FIG. 39 schematically shows a further embodiment of the transport deviceaccording to the invention as part of various machine concepts of amachine tool.

FIG. 40a schematically shows an embodiment of the transport deviceaccording to the invention with a pallet received on a console machine.

FIG. 40b schematically shows a further embodiment of the transportdevice according to the invention as part of various further machineconcepts of a machine tool.

FIG. 40c schematically shows a further embodiment of the transportdevice according to the invention as part of various further machineconcepts of a machine tool.

FIG. 41 schematically shows a further embodiment of the transport deviceaccording to the invention carrying a plurality of pallets or workpiecesin interaction with a stationary industrial robot for handling theworkpieces (on the left) and a further embodiment of the transportdevice according to the invention with a milling robot (on the right).

FIG. 42 schematically shows a further embodiment of the transport deviceaccording to the invention as part of a machine concept of a machinetool with a gantry design and a plurality of transport devices.

FIG. 43 schematically shows a further embodiment of the transport deviceaccording to the invention, wherein a plurality of transport devices areconnected to one another by couplings to form a unit.

FIG. 44 schematically shows a further embodiment of the transport deviceaccording to the invention during positioning and establishment ofenergy and/or signal connection below a machine tool in gantry design.

FIG. 45 schematically shows a (modular) machine tool comprising aplurality of transport devices according to the invention with differentsubtasks.

FIG. 46 schematically shows a further embodiment of the transport deviceaccording to the invention with a tailstock attachment for turningworkpieces.

FIG. 47 schematically shows a variety of transport devices according tothe invention with different tasks within a production chain.

FIG. 48 schematically shows the method according to the invention forhandling a pallet and/or a workpiece on a machine tool.

DETAILED DESCRIPTION OF THE FIGURES AND PREFERRED EMBODIMENTS OF THEPRESENT INVENTION

In the following, examples or exemplary embodiments of the presentinvention are described in detail with reference to the appendedfigures. The same or similar elements in the figures can be designatedwith the same reference symbols, but sometimes with different referencesymbols.

It should be emphasized that the present invention is in no way limitedor restricted by the exemplary embodiments described below and theirdesign features, but also includes modifications of the exemplaryembodiments, in particular those that are included within the scope ofthe independent claims by modifications of the features of the describedexamples or by combining one or more of the features of the describedexamples.

FIG. 1 schematically shows an embodiment of the transport device 100according to the invention with receiving devices 40 for receivinghandling devices.

The embodiment of the transport device 100 according to the inventionshown in FIG. 1 is, in a particularly preferred embodiment, configuredas a driverless transport vehicle (FTF) of a driverless transport system(FTS).

Here, the transport device 100 includes a chassis 10 (platform) and adrive 20. The chassis is configured to accommodate an energy store 30,wherein an electrical energy store 30 such as a battery is preferablyused for this purpose. However, the energy store 30 is not limited toelectrical energy, so that, if necessary, mechanical energy may also bestored in the form of, for example, pressurized fluids or deformationenergy (e.g. a resilient element). Further energy stores for e.g.hydraulics or pneumatics may also be accommodated in the chassis 10.

Furthermore, the transport device 100 according to the inventionparticularly preferably comprises wheels 20 for moving the transportdevice 100, for example in a factory hall. These wheels 20 may beconnected to a central drive motor via a drive train (not shown), butthey may also each have their own drive motor (e.g. one or more electricmotors) individually controllable by an internal controller 35.

Furthermore, the wheels 20 may be steered individually so that anextremely flexible driving style and positioning (for example turning onthe spot, sideways travel etc.) of the transport device 100 according tothe invention becomes possible. The wheels 20 may, however, also put thetransport device 100 into a rotating motion by means of a movement inopposite directions in order to achieve a positioning of the transportdevice 100.

Alternatively, instead of the wheels 20, chains or a crawler chassis ora combination of wheels 20 and chains/crawler chassis may be used inorder to further increase the mobility or flexibility of the transportdevice 100 according to the invention.

A particularly preferred embodiment of the wheels 20 are so-calledMecanum wheels. By simply controlling the direction of rotation of eachwheel 20, they allow for a rotational movement of the transport device100 on the spot, a translational movement of the transport device 100both in the longitudinal direction (forwards, backwards) and in thetransverse direction (sideways movement) of the transport device 100, aswell as in a 45° angle with respect to the longitudinal or transversedirection.

By using Mecanum wheels, a steering mechanism for the wheels 20 mayadvantageously be completely eliminated and a corresponding positioningmovement of the transport device 100 can be obtained solely with theinternal controller 35.

Furthermore, the chassis 10 is preferably configured as a platformcarrier including a wide variety of receiving devices 40 for handlingdevices (e.g., automation components or transport components, etc.).

The platform carrier particularly preferably includes n+1 receivingdevices 40 for the various handling devices, the receiving devices 40being particularly preferably arranged on the entire platform carrier.In particular, all sides (spatial planes) of the transport device 100are preferably used for providing a receiving device 40 (cf. also thevarious views of the transport device 100 in FIG. 1). Thereby, far morehandling devices can be received and moved accordingly than is possible,for example, with a commercially available transport vehicle such as aforklift or a motorized lift truck.

However, it should be pointed out that the number and/or thedistribution of the receiving devices 40 on the transport device 100 isnot limited to the number/distribution shown in FIG. 1. For example,only a single receiving device 40 may be provided on the top of thetransport device 100, for example, and/or two or more receiving devices40 may be provided on one or more sides of the transport device 100.

Furthermore, the receiving devices 40 provided on the upper side of thetransport device 100 may differ in size and properties from thereceiving devices 40 on the sides of the transport device 100. This maybe advantageous, for example, when smaller handling devices with acomparatively low weight are to be received on the sides of thetransport device 100 and the heavier handling devices are to bepreferably positioned above the axes/the drive 20 of the transportdevice 100.

Furthermore, for example, the smaller receiving devices 40 on the sidesof the transport device 100 may also have a smaller number ofconnections (see the explanations for FIG. 2) compared to the largerreceiving devices 40 on the upper side of the transport device 100.

The transport device 100 is preferably equipped with a unit foroptically monitoring its environment (not shown here) and the coupledhandling devices. This device is preferably coupled to the controlsoftware of the internal controller 35 and allows for an action to betaken on the basis of the detection.

In addition, further sensors are preferably installed in the transportdevice 100, said sensors making possible to monitor the environment andcomponents in a suitable manner. For example, infrared or radar sensorsmay be used.

FIG. 2a schematically shows a detailed view of a receiving device 40 forreceiving handling devices (or any other devices).

Here, the receiving devices 40 are preferably configured for mechanicalfixation of the handling devices, for signal transmission and energytransmission to the respective handling device. Depending on thehandling device, only one of the transmission options or any combinationthereof may be used.

Furthermore, the receiving devices 40 are particularly preferablyconfigured to be automated. The transport device 100 can thusindependently exchange the handling devices and can therefore be usedflexibly for a wide variety of tasks. In the case of automatedembodiments of the transport device 100, quick-release couplings (e.g.,front loader quick-release couplings) are also particularly suitable forautomatically establishing a connection for energy transmission orsignal transmission between the transport device 100 and the handlingdevice.

As shown in FIG. 2a , for example, cone-shaped portions 41 of thereceiving device 40 may be provided in order to align and fix thecorresponding handling device with respect to the receiving device 40.For aligning and simultaneously fixing the handling device on thereceiving device 40 in such a way, clamping cones may advantageously beused here, as are already known, for example, from the receptacle forpallets in a machine tool.

Furthermore, the receiving device 40 may have an interface 42 for thetransmission of mechanical energy (for example a rotation of a motorprovided in the transport device 100 to the handling device) and/orelectrical, hydraulic and/or pneumatic energy. Furthermore, however,operating means such as cooling lubricant could also be fed from thetransport device to the handling device respectively received on thereceiving device 40, for example. For this purpose, for example,corresponding fastening means and connections conducting electricityand/or fluids (fastening means and connections 43) may be provided.

In addition, the interface 42 may advantageously include a device forcontactless transmission of signals between the receiving device 40 ofthe transport device 100 and the handling device. This device forcontactless signal transmission may be configured, for example, as atransmitter/receiver coil or as an inductive coupler with I/O link forcontactless transmission of the signals.

The device may be provided at any point on the interface 42 or evenoutside of the interface 42, the device for contactless signaltransmission advantageously being provided centrally in the interface42.

It should be noted at this point that, for example, the connectionsconducting electricity and/or fluids do not necessarily have to beprovided on the interface 42. They may also be provided outside of theinterface 42, for example in order to separate/isolate the transmissionof rotational energy from the transmission of electrical/fluid energy.

Moreover, the receiving devices 40 are particularly preferablyconfigured to be uniform or standardized such that any components orhandling devices with correspondingly uniformly configured receivingelements can be attached and essentially the same quick-releasecouplings can be used for energy or signal transmission.

Furthermore, the receiving devices 40 preferably have the option ofmonitoring the state of the receiving handling device. This preferablyincludes the monitoring of the clamping situation of the coupledhandling device (for example at the clamping cones), status and signalsthereof, as well as energy transfer thereof.

When monitoring the clamping state, preferably a contact control or aclamping control in the receiving devices 40 may be used, the contactcontrol preferably determining the state via electrical signals oralternatively using blown air for this purpose.

As an example, the transport device 100 may receive the followinghandling devices: pallet changers (e.g. known from machine tools),robots, material pallets, mesh boxes and other material carriers,storage stations for robot accessories (e.g. exchange grippers),deburring stations, washing stations, tools for, e.g., machine tools,forklift trucks, etc. For further details, reference is made to FIGS. 3to 11 and 22 to 36.

It should be pointed out here that the possible handling devicesreceivable by the receiving devices 40 of the transport device 100 arein no way covered by the above list.

Furthermore, the transport device 100 is advantageously configured suchthat the handling devices can be combined with one another as desired inorder to enable greater flexibility for specific applications.

The internal controller 35 of the transport device 100 preferablyincludes its own control software which can control and monitor thetravel and transport movements. The control software could, for example,be expanded by individual software modules that are necessary for therespective components or handling devices. This may, for example, be theattachment of a robot control or the attachment of the control of apallet changer.

FIG. 2b schematically shows a further embodiment of the receiving device40 of the transport device 100 for receiving a handling device (or anyother device).

Here, the receiving device 40 includes at least one recess 44 (forexample a milled recess or a bore) by which a bolt 48 of a device (forexample the handling device, pallet holder 350 or any other device) canbe received. In this case, the recess 44 has a greater extent than, forexample, the diameter of the bolt 48 so that the bolt 48 can bedisplaceably mounted on the bottom of the recess 44. In addition or asan alternative to the bottom, the recess 44 may also have at least onereceiving surface (for supporting the received device) by which thedevice can be received.

It should already be pointed out here that the recesses 44 are providedon the device and the bolts 48 therefor are provided on the receivingdevice 40. In addition, it should be pointed out that, in addition tothe combination of recess 44/bolt 48, other shape pairings are alsoconceivable for receiving the device on the receiving device 40, forexample prism and cone. The options mentioned and described herein arenot to be regarded as exclusive.

Furthermore, the receiving device 40 may have a device 46 for centeringthe device received by the receiving device 40 (here pallet holder 350)relative to the transport device 100 or the receiving device 40. This isparticularly advantageous in order to compensate for possiblepositioning inaccuracies of the received device on the receiving device40 by means of the transport device 100.

The reception and, if necessary, centering of the exemplary palletholder 350 on the receiving device 40 or by the centering device 46takes place as follows:

At the beginning, the transport device 100 moves with the respectivereceiving device 40 (and a certain positioning accuracy) under thedevice to be received (here, for example, the pallet holder 350). Here,the pallet holder 350 may be pressed against a pressure piece 45provided on the side of the receiving device 40, like the centeringdevice 46. This pressure piece 45 ensures that the pallet holder 350 isbiased in the direction opposite the centering device 46 with respect tothe receiving device 40.

Then, the transport device 100 rises (for example by a mechanism asshown in FIGS. 17a and 17b ) such that the bolts 48 thread into therecesses 44, the transport device 100 being raised further until thepallet holder 350 rests completely in the recesses 44 or on the upperside thereof.

The transport device 100 then rises further until the pallet holder 350is lifted out of its receptacle (not shown here) and is thus completelysupported by the transport device 100.

After that, the pallet holder 350 may now be centered (and therewithalso fixed) on the receiving device 40. In this case, for example, thedrive 47 may become active for displacing the recesses 44, which areslidably mounted, for example, on a sliding or ball guide, in thedirection of the centering device 46.

The drive displaces the pallet holder 350 previously floatingly mountedon the receiving device 40 (or in and/or on the recesses 44) in thedirection of the centering device 46 and presses it against thecentering device 46 (and possibly also more strongly against thepressure piece 45) such that an alignment of the pallet holder 350 onthe centering device 46 is obtained (for example, the centering device46 includes a prism/two prisms and corresponding pins/bolts of thepallet holder 350 is aligned with said prism(s)).

The drive 47 may have two end positions: On the one hand, when the drive47 has displaced/moved the recesses as far as possible in the directionof the centering device 46, the pallet holder 350 is fixed and aligned.And on the other hand, when the drive 47 has moved the recesses 44 tothe greatest possible distance from the centering device 47, the palletholder 350 is free and can align itself using other elements (forexample using a receptacle on a machine tool, a setup station, amagazine station or the like). In this state, the pallet holder 350 maycorrespondingly be transferred to a receptacle or be received by thereceptacle.

Fixing the pallet holder 350 on the receiving device 40 can now becarried out in such a way that, on the one hand, the centering device 46itself includes a fixing portion into which the pallet holder 350 isthreaded and where it is locked.

Or the recesses 44 are moved so far in the direction of the centeringdevice 46 by the drive 47 that at least one bolt 48 of the pallet holder350 is pressed against the side of one of the recesses 44 facing awayfrom the centering device 46 (see the center image in FIG. 2b ).Thereby, the pallet holder 350 is fixed with respect to the receivingdevice 40.

Furthermore, the pallet holder 350 can be fixed on the receiving device40 by the pressure piece 45 pressing the pallet holder 350 against theside of one of the recesses 44 facing away from the centering device 46(see the center image of FIG. 2b ).

It should be pointed out here that all of the above-mentioned optionsfor fixing the pallet holder 350 with respect to the receiving device 40may also take place in combination with one another. In addition, itshould be pointed out that the above-mentioned options for fixing arenot to be understood as exclusive; other options may also be consideredhere.

It should also be pointed out that the drive 47 is not absolutelynecessary in order to fix or center the pallet holder 350. Rather,further options for centering the pallet holder 350 with respect to thereceiving device 40 of the transport device 100 may also be used.

FIG. 2c schematically shows a further embodiment of the receiving device40, this time without the drive 47.

Here, the receiving device 40 again has at least one recess 44 and apressure piece 45, wherein the at least one recess 44 cannot bepositioned opposite the transport device 100 anymore (as was possible,for example, by means of the drive 47 as described in FIG. 2b ).

Instead, only the pressure piece 45 acts as a biasing element whichpresses the pallet holder 350 against the at least one recess 44 andthereby fixes the pallet holder 350 (and also aligns it to a certainextent) with respect to the receiving device 40 (see right image in FIG.2c ). This relative position of the pallet holder 350 with respect tothe receiving device 40 is present when the pallet holder 350 is movedby the transport device 100.

However, if the pallet holder 350 is to be transferred to a receptacle,then, due to the approach of the pallet holder 350 to the receptacle,the pallet holder 350 is (mechanically) aligned with the receivingreceptacle by means of the alignment elements 351, compressing thepressure piece 45 at the same time (see left Image of FIG. 2c ).

FIG. 2d schematically shows a connector 70 able to transmit media,energy and signals from the receiving device 40 to the received device(e.g., handling device, pallet holder 350 or any other device),automatically establishing the corresponding connections between thereceiving device 40 and the received device.

The specialty of the connector 70 is that it is configured in such a waythat it can also compensate for any positioning inaccuracies of thetransport device 100.

For this purpose, the connector 70 also has a (spring-loaded) pressurepiece 71 biasing the floating connector body 75 towards a connectorfixation 72, wherein also a mechanical stop 73 against which theconnector body 75 is biased may be present. This mechanical stop 73 may,for example, be configured as a prism that additionally allows for thealignment of the connector body 75.

When the transport device 100 is moved under the device and lifted inorder to receive the device, the connector 70 can, due to the floatingmounting and the conical shape of the connector body 75, be insertedinto the correspondingly formed (conical) recess of the pallet holder350 (or another device) and be aligned such that the connectioninterfaces 74 of the connector 70 can establish a connection with thecorresponding counterparts on the pallet holder 350. Conversely, theconnection of the connector 70 (with the connection interfaces 74) canof course be severed from the pallet holder 350 again by lowering thereceiving device 40 with respect to the received device.

FIG. 3 schematically shows an embodiment of the transport device 100according to the invention, as an example with a pallet changer 200 anda pallet 300.

In addition to the already described elements of the chassis 10, thewheels 20 and the receiving devices 40, a pallet changer 200 as ahandling device in a double fork design (H-shaped fork; see also FIG. 5)and a pallet 300 are shown as an example.

Here, the handling device (pallet changer 200) on the front side of thetransport device 100 was received by one of the receiving devices 40 andmechanically fixed accordingly and connections for energy and signaltransmission for controlling and driving the pallet changer 200 wereestablished.

The transport device 100 according to the invention can now move to acorresponding machine tool 1000 (not shown here) using the receivedpallet changer 200 as a handling device and insert the carried pallet300 into the machine tool 1000 or exchange it with the pallet 300already present in the machine tool 1000.

In contrast to transport vehicles with only one fork, a particularadvantage of the coupled pallet changer 200, in particular in the caseof a plurality of pallet changers 200 being received by the transportdevice 100, is that necessary displacement motions when exchangingpallets are avoided or reduced.

The pallet changer 200 preferably has corresponding receiving elementsfor the receiving devices 40 of the transport device 100 includingmechanical fixation, positioning, signal transmission and energytransmission. Furthermore, the pallet changer 200 should be configuredto match the machine tools to be automated.

The pallet changer 200 preferably includes n+1 receptacles (receivingclaw or a fork-shaped receptacle, preferably for different pallet sizes)for pallets 300, the pallet changer 200 also being equipped with arotary axis allowing for the pallets 300 to be exchanged by a rotarymovement.

The pallet changer 200 preferably has a further axis in order to movethe pallets 300 out of their clamping position in the machine tool 1000.Usually this is a lifting axis.

A fork-shaped receptacle could also be adjustable in terms of itsdimensions in order to be able to receive several variants and sizes ofpallets 300.

Furthermore, the receiving claw could also be adaptable to the size ofthe pallet.

FIG. 4a schematically shows an embodiment of the transport device 100according to the invention during a pallet change by means of twofork-shaped pallet changers 200, the transport device 100 executing arotation (in the shown example by 90°, other angles, in particular 180°,also being possible) in order to perform the exchange of the pallets300.

Here, the transport device 100 moves up to a work space of the machinetool 1000 and positions itself in front of the work space in such a waythat the pallet 300 already present in the work space can be received bythe empty fork-shaped pallet changer 200 (e.g. by means of a pivotingmovement of the transport device 100 or a telescopic mechanism forlifting the pallet 300 received at the transport device 100, or bysimply moving the transport device 100). The transport device 100 thenrotates by 90° such that the second pallet changer 200 can insert thecarried pallet 300 into the work space of the machine tool 1000.

FIG. 4b schematically shows the transport device 100 according to theinvention with an embodiment of a fork-shaped pallet changer 200.

In particular, the fork-shaped pallet changer 200 may be configured as alifting fork, as is known, for example, from forklifts. A liftingmechanism correspondingly provided on the fork-shaped pallet changer 200may adjust the height of the lifting fork and thus significantlyincrease the possible usage options of the fork-shaped pallet changer200. However, the lifting mechanism does not necessarily have to beprovided on the fork-shaped pallet changer 200.

FIG. 5 schematically shows an embodiment of the transport device 100according to the invention during a pallet change, the transport device100 remaining in its position and the pallet changer 200, an H-shapedpallet changer 200 as shown in FIG. 3, rotating.

As already described in conjunction with FIG. 4a , the transport device100 moves up to the work space of the machine tool 1000 and positionsitself in front of the work space such that the pallet 300 alreadypresent in the work space can be received by a free fork of thedouble-forked (or H-shaped) pallet changer 200.

Then the pallet changer 200 is subsequently rotated on the transportdevice 100 such that the pallet 300 carried along on the other fork canbe inserted into the work space of the machine tool 1000.

FIG. 6 schematically shows an embodiment of the transport device 100according to the invention during a pallet change, the pallet changer200 being configured as double H and being able to rotate as shown.Essentially the same sequence as described in FIG. 5 is carried out.

FIG. 7 schematically shows an embodiment of the transport device 100according to the invention during a pallet change, the pallet changer200 now being able to receive pallets 300 with a 60° partition and torotate as shown. Essentially the same sequence is carried out asdescribed in FIG. 5.

The pallet changers 200 of FIGS. 6 and 7 have the advantage that theycan carry significantly more pallets 300 and thus a plurality of machinetools 1000 can be supplied with pallets 300 without the transport device100 immediately having to return to a setup station or the like to getanother pallet 300. This allows for enormous time and energy savings.

FIG. 8 schematically shows an embodiment of the transport device 100according to the invention (as well as the chassis 10 and wheels 20)with a displaceable pallet changer 200.

Furthermore, it may be advantageous when, in addition to the possibilityof rotating the pallet changer 200, there is the possibility of movingthe pallet changer 200 relative to the transport device 100 such that,for example, the axis of rotation of the pallet changer 200 can befreely positioned with respect to the transport device 100.

It may additionally be advantageous when the displacement of the palletchanger 200 is not only possible in one direction as shown in FIG. 8,but at least in one further direction extending perpendicularly thereto,in order to position the pallet changer 200 with respect to thetransport device 100 and/or the machine tool 1000 even more freely.

FIG. 9a schematically shows an embodiment of the transport device 100according to the invention including a pallet changer 200 with anadjustable fork width.

In this way, the pallet changer 200 can now be adapted to the differentsizes of the pallet 300 to be transported to the machine tool 1000 bythe transport device 100. This further increases the flexibility and therange of applications of a single pallet changer 200.

Moreover, as shown in FIG. 9b , the length of the pallet changer 200 canbe adjusted in order to adapt it to the different sizes of the pallet300 also. This further increases the flexibility and the range ofapplications of a single pallet changer 200.

Furthermore, for example, a variable length of the pallet changer 200may also be used to place a pallet 300 further into the machine tool1000. This may be advantageous in the case of certain types of designsof machine tools 1000 or if, for example, the transport device 100cannot move to a point immediately in front of the pallet receptacle ofthe machine tool 1000.

FIG. 10 schematically shows an embodiment of the transport device 100according to the invention (as well as chassis 10 and wheels 20) with apallet changer 200 for a multi-level pallet depository.

By means of the receiving devices 40, it is also possible to receive amulti-level pallet changer 200 on the transport device 100 and thus tooperate multi-level pallet depositories.

For this purpose, a lifting-rotating unit with receptacles for n+1pallets 300 is preferably provided, with the lifting axis of the palletchanger 200 being usable for the arrangement of n+1 pallets 300 aboveone other. As a result, a higher packing density of the pallets 300 isobtained compared to a merely planar arrangement of pallets 300.

FIG. 11 schematically shows a further embodiment of the transport device100 according to the invention (as well as chassis 10 and wheels 20)with a pallet changer 200 for a multi-level pallet depository.

Here, the transport device 100 also has its own multi-level palletdepository (shown to the left of the pallet changer 200) in order tohave additional storage capacities for pallets 300 and thus to transportmore pallets 300.

In addition, it may be advantageous to configure the pallet changer 200such that it can be used by a lifting-sliding unit for the arrangementof n+1 pallets 300 on top of one another and thus also to operate themulti-level pallet depository provided on the transport device 100optimally.

FIG. 12a schematically shows the transport device 100 according to theinvention when loading a circular store 1700 of a machine tool withpallets 300.

This may advantageously show that a transport device 100 equipped with apallet changer 200 can not only load a machine tool 1000 directly (forexample the work space of the machine tool 1000 directly), but can alsoload various stores (such as a circular store 1700 of the machine tool1000) with pallets 300.

FIG. 12b shows a transport device 100 according to the invention whenloading an intermediate store 1800 at which pallets 300 or palletholders 350 can be provided to a feed device 1850 (see top image in FIG.12b ) by docking them to a receptacle 1040 (comprising conicalreceptacles (for example conical receptacles 1051) and an interface 358;see, for example, also FIG. 16c ) of the intermediate store 1800. Forthis purpose, the intermediate store 1800 may advantageously have atleast one docking location, but may particularly advantageously providea plurality of docking locations.

The feed device 1850 can now feed the pallets 300 from the intermediatestore 1800 to a pallet receptacle (for example a rotary swivel table oranother pallet receptacle) of the machine tool 1000 or exchange a pallet300 already on the pallet receptacle. This allows for the transportdevice 100 to not have to remain at the intermediate store 1800, but tobe available for other tasks.

In addition to docking to a receptacle 1040 approached via a horizontalmovement of the transport device 100, wherein the docking itself is alsocarried out via a horizontal movement of the pallet holder 350 withrespect to the receptacle 1040, the pallet 300/pallet holder 350 mayalso be positioned above a receptacle 1040 by the transport device 100and may then be deposited on said receptacle 1040 (see lower image inFIG. 12b ), the receptacle 1040 being described in detail in FIGS. 16iand 16 j.

For this purpose, the transport device 100 is first pre-positioned onthe receptacle 1040, the transport device 100 being raised (for exampleby a mechanism according to FIG. 17a or 17 b).

This is followed by a delivery movement, wherein the pallet 300 or thepallet holder 350 is pushed (for example by means of the alignmentelements 351) against a centering device (for example centering device1042, see FIGS. 16i and 16j ) of the machine tool 1000 and an alignmentof the pallet holder 350 takes place already at this point, since thepallet holder 350 is, for example, floatingly mounted on the receivingdevice 40 of the transport device 100.

Now the transport device 100 is lowered, whereby a pre-centering takesplace (pallet 300 or the pallet holder 350 align with respect to thereceptacle 1040), since, for example, the alignment elements 351 of thepallet holder 350 have a V-shape.

The transport device 100 can now be lowered further until the pallet 300or the pallet holder 350 is placed on the corresponding cones (forexample pallet cones 1044 and/or device cones 1041, see FIGS. 16i and16j ). The cones (pallet cones 1044/device cones 1041) may now have, forexample, a docking unit that can lock and secure the received pallet 300or device (here pallet holder 350) and/or also have media interfaces,similarly as already described in FIG. 2d or as described in FIGS. 16iand 16 j.

Then, the transport device 100 may be lowered further until thedevice/pallet 300 has been received by the receptacle 1040 and thetransport device 100 is free. The transport device 100 may then eithermove away from the machine tool 1000 (or another unit, for example setupstation, magazine station, etc.), either with the pallet holder 350 (andwithout the pallet 300) or completely without the pallet holder 350 andthe pallet 300, and take on another/new task.

FIG. 12c schematically shows a transport device 100 according to theinvention when loading a pallet changer 200.

The pallet 300 or the pallet holder 350 may be docked to a palletchanger 200 by the transport device 100 by means of the receptacle 1040already described (see also FIG. 16c ) so that the pallet changer 200can load the machine table with a pallet 300 independently of thetransport device 100.

Here too, in addition to docking to a receptacle 1040 via a horizontaldisplacement movement of the transport device 100 and performing thedocking itself via a horizontal movement of the pallet holder 350 withrespect to the receptacle 1040, the pallet 300/pallet holder 350 mayalso be positioned by the transport device 100 via a receptacle 1040 andthen be deposited on this receptacle 1040 (see lower image in FIG. 12b), the receptacle 1040 being described in detail in FIGS. 16i and 16 j.

In this regard, reference is made to the sequence for docking/receivinga pallet/pallet holder 350 on a receptacle 1040 already described inFIG. 12b .

It should also be pointed out here that such concepts of(intermediately) storing pallets 300 are independent of the machineconcepts shown (FIG. 12b : machine tool 1000 with machine bed 1350 andvertically arranged work spindle 1100 and rotary swivel table; FIG. 12c: machine tool 1000 with machine bed 1350 and horizontally arranged workspindle 1100 and rotary swivel table) and may therefore also be used onany other machine tool 1000.

FIG. 13 schematically shows an exemplary embodiment of a linear storagefor pallet handling with a plurality of setup stations 4000 and storagestations 5000, which can be served by a plurality of transport devices100 with corresponding pallet changers 200, wherein correspondingly aplurality of machine tools 1000 can be loaded with pallets 300. Here,for example, both the setup stations 4000 and the storage stations 5000may be configured as multi-level setup and storage stations.

Each transport device 100 may be loaded with a plurality of pallets 300,as is made possible, for example, by a corresponding pallet changer 200with a larger capacity (as shown, for example, in FIGS. 5 to 7) or bycarrying a pallet depository on the transport device 100 (as shown inFIG. 11). Furthermore, however, a plurality of pallet changers 200 mayalso be received by the respective transport device 100 in order to beable to transport a plurality of pallets 300 at the same time.

In this way, for example, it can be advantageously achieved that a largenumber of pallets 300 can be moved with only one transport device 100 toany location within the production facility or within the region to beautomated. In addition, the transport devices 100 may also deposit thepallets 300 in front of, next to or behind the respective machine tool1000 and may also retrieve them again.

In particular, the flexible use and the high degree of automation of thetransport devices 100 allow for an unlimited variety of configurationsof the linear storage device. Particularly when a plurality of machinetools 1000 of the most varied sizes are linked, the possibility offreely configuring the layout of the linear storage may represent animmense advantage.

Moreover, the transport devices 100 and their monitoring of theenvironment by means of appropriate sensors means that a casing of thelinear storage can be omitted.

FIGS. 14a and 14b schematically show a positioning of a pallet changer200 at a storage station 500 by means of conical receptacles 510 (FIG.14a ) and at a storage station 500 with roller technology 520 (FIG. 14b).

Here, the pallet changers 200 (as indicated on the left edge) havevarious interfaces for coupling the pallet changer 200 to the transportdevice 100.

The conical receptacles 510 may also position the pallet changer 200 onall sides, while a depth stop must be provided at the storage stationwith roller technology 520 so that the pallet changer 200 does not fallfrom the storage station 500, wherein a positioning of the palletchanger 200 in a direction perpendicular to the plane of the sheetcannot be guaranteed by the roller technology 520.

FIG. 15 schematically shows a positioning of the transport device 100according to the invention on a machine tool 1000 by means of a prism1010.

Here, the transport device 100 also has a corresponding counterpart 103(here a cylindrical counterpart) in order to move into the prism withthe counterpart 103 and thus achieve precise positioning in front of themachine tool 1000. However, a plurality of prisms 1010 andcorrespondingly a plurality of counterparts 103 may be used for such apositioning of the transport device 100 in front of the machine tool1000, both for positioning in one direction (e.g. in the longitudinaldirection of the transport device 100) and in a direction perpendicularthereto (e.g. transverse direction of the transport device 100).

It should be pointed out here that the above-mentioned configurationoptions for positioning the transport device 100 according to theinvention are not limited to the combination of prism 1010 andcylindrical counterpart 103. Rather, for example a part with a V-shapednotch (as an alternative to the prism 1010) could also be used.

FIG. 16a schematically shows a positioning of the transport device 100according to the invention on a machine tool 1000 by means of conicalreceptacles 1051.

Here, the transport device 100 includes a height adjustment (not shownhere, see FIGS. 17 to 19) allowing for the handling device (here, forexample, a pallet changer 200) to be placed on the conical receptacles1051 of the machine tool 1000 and thus for a very precise positioning ofthe handling device in front of the machine tool 1000 to be achieved.

Furthermore, the conical receptacles 1051 allow for the handling deviceto bear the load, which is particularly advantageous when the handlingdevice has to carry large masses possibly exceeding the load-bearingcapacity of the transport device 100 during usage, for example in thecase of pallets 300 with particularly large or heavy workpieces 1 andthe load occurring when removing the pallet 300 with the workpiece 1.

The transport device 100 preferably has a defined position in front ofthe machine tool 1000 or the storage stations 500/setup stations. Thepositioning can be guaranteed mechanically, by signaling or incombination.

This positioning may preferably be carried out via n mechanical indexesvia horizontally arranged movement(s) (see FIG. 15) or verticalmovement(s). Alternatively, rotary movement(s) may also be used for thispurpose, the movements being coupled with one another or executed oneafter the other.

In an exemplary embodiment, the positioning is ensured by a verticalmovement (see in detail FIGS. 17 to 19).

The indexes may be linked to the machine tools 1000, the storagelocations 500, or the setup stations. The indexes are preferablyconnected to the hall floor to prevent any disturbances such asvibrations, shocks to affect the machine tool 1000 or the stations whilethe transport device 100 is positioned.

The indexes are preferably configured to be conical (conical receptacles1051). This ensures positioning in all necessary planes. The conicalreceptacles 1051 are preferably positioned in such a way that they arenot in the actual entry area in front of the machine tool 1000 andtherefore do not impede the operator ergonomically when workingmanually.

Preferably, the conical receptacles 1051 are also used to absorbvertical loads that arise, for example, during pallet change due to thepallet 300 to be removed. As a result, the transport device 100 can beconfigured for the maximum transport capacity and does not have toabsorb any additional loads that arise at short notice due to exchangeprocesses.

Furthermore, the conical receptacles 1051 (see also FIGS. 16b and 16c )may be used to establish a connection between the machine tool 1000,stations and the transport device 100. This connection may be used forsignal transmission or for energy exchange, if it cannot be designedcontactless.

Furthermore, the above mentioned connection may also be implementedthrough another receptacle docked by the cone lift.

In addition, the conical receptacles 1051 may be locked and unlocked inorder to additionally stabilize the positioning or to increase itsaccuracy.

The vertical movements of the transport device 100 may be driven andcontrolled by using the media present on the transport device 100. Eachof the receiving devices 40 may preferably carry out the verticalmovement autonomously and independently of one another (see FIG. 19 inthis regard). Alternatively, the vertical movement may be performed bylifting the frame/carriage of the FTS relative to the wheels (see FIGS.17 and 18).

The lifting movement may move freely to all necessary positions in orderto find a suitable sequence. In an exemplary embodiment, three mainpositions are provided:

Lift top: position in which the transport device 100 can move.

Lift center: Position in which the handling devices are placed on thecones.

Lift bottom: depositing handling devices/material carriers/boxesdirectly on the floor.

Furthermore, the lifting movement may also be used to dock the transportdevice 100 on a charging station (not shown here) and to enable thecharging process there.

Furthermore, the handling device may be temporarily transferred directlyto the machine tool 1000 by the transport device 100. Here, the handlingdevice is supplied via the interface integrated in the conicalreceptacles 1051 (see also FIGS. 16b and 16c ) for establishing aconnection from the machine tool 1000 and the transport device 100 cantake on other tasks and other handling devices. In this case, thetransport device 100 serves as a feeder for temporary handling devicesfor various machine tools 1000.

FIG. 16b schematically shows a further embodiment of the transportdevice 100 according to the invention with positioning and establishmentof energy and/or signal connection by means of conical receptacles 1051.

Here, conical receptacles 1051 of the machine tool are shown, which, inaddition to positioning the transport device 100 when it is loweredabove the conical receptacles 1051 by means of its lifting cylinders(see FIGS. 17 and 18) can establish a connection via which energy and/orsignals for controlling or monitoring the transport device 100 can betransmitted to the transport device 100 and vice versa from thetransport device 100 to the machine tool 1000.

By means of the conical receptacles 1051, for example, as shown here,the pallet 300 or any other handling device could be positionedprecisely on the machine tool 1000 and, and this is particularlyadvantageous, the transport device 100 or the received pallet 300 couldbe controlled without straining the internal energy store (not shownhere) of the transport device 100, since the energy is provided by themachine tool 1000 and is fed into the transport device 100 via theconnection described.

Furthermore, the transport device 100 may include a type of chargingstation at which it can refill or renew its energy sources (energy store30; not shown here). This can be done, for example, by docking on theconical receptacles 1051.

FIG. 16c schematically shows a further embodiment of the transportdevice 100 according to the invention, wherein a pallet holder 350 witha pallet 300 docks to a pallet holder receptacle 1040 by means of atransport device 100. The pallet holder receptacle 1040 may be providedon the machine tool 1000, for example.

In particular, this embodiment differs from the one shown in FIG. 16a inthat the pallet holder 350 (or another device that is/can be transportedby the transport device 100) is docked to the pallet holder receptacle1040 by a movement of the transport device 100 in the horizontal plane.

Docking can take place, for example, by means of conical receptacles1051 (here for example clamping cones) on the pallet holder receptacle1040 or on the pallet holder 350 and correspondingly designed conicalrecesses 355 on the pallet holder 350 or on the pallet holder receptacle1040. The advantages already described, such as the alignment/centeringof the pallet holder 350 with respect to the pallet holder receptacle1040, also result from the conical receptacles 1051/conical recesses 355here.

After the pallet holder 350 (or another device that is/can betransported by the transport device 100) has been docked, the transportdevice 100 may, for example, decouple again from the transported device(here pallet holder 350) and be used for another transport task.

Furthermore, the pallet holder 350 may have, as is also the case for thetransport device 100 itself or the handling device for example, aninterface 357 for transmitting mechanical energy and/or electrical,hydraulic and/or pneumatic energy between the pallet holder receptacle1040 and the pallet holder 350. The pallet holder receptacle 1040 mayaccordingly have a counterpart (interface 358) to the interface 357 ofthe pallet holder 350.

Furthermore, for example, operating means such as cooling lubricantcould also be fed from the pallet holder receptacle 1040 to the palletholder 350. For this purpose, for example, corresponding fastening meansand connections conducting electricity and/or fluid (comparable tofastening means and connections 43) may be provided.

In addition, the interface 357 may advantageously include a device forcontactless transmission of signals between the pallet holder receptacle1040 of the machine tool 1000 (or another device) and the pallet holder350. This device for contactless signal transmission may be configured,for example, as a transmitter/receiver coil or as an inductive couplerwith I/O link for contactless transmission of the signals.

Here, the device may be provided at any location on the interface 357 oralso outside of the interface 357, with the device for contactlesssignal transmission being provided centrally in the interface 357.

It should be pointed out here, however, that the receptacle designatedas pallet holder receptacle 1040 on the machine tool 1000 may alsoreceive a variety of other devices, handling devices or the like, oralso the transport device 100 itself by docking. The pallet holderreceptacle 1040 is therefore not limited to receiving pallet holders350.

It should further be pointed out that in a particularly preferred mannerthe receptacle described for docking (with conical receptacles 1051,conical recesses 355, and interfaces 357/358) with the receptacledevices 40 (see

FIG. 2) is configured to be uniform or standardized so that anycomponents or handling devices with correspondingly uniformly configuredreceiving elements can be attached and essentially the samequick-release couplings can be used for energy or signal transmission inthis case.

FIG. 16d schematically shows a further embodiment of the transportdevice 100 according to the invention with a pallet holder 350.

Here, the transport device 100 includes a pallet holder 350 which cannotbe received by a machine tool 1000 (or by a setup station, magazinestation, etc.) and always remains on the transport device 100.

This pallet holder 350 is configured to place a pallet 300 on areceptacle 1040 of the machine tool 1000 by positioning the pallet 300by means of the transport device 100 (in the raised state) over thereceptacle 1040 and then lowering the transport device 100 until thepallet 300 is received from the receptacle 1040.

Already when positioning the pallet 300 above the receptacle 1040, analignment (precentering) of the pallet 300 with respect to thereceptacle 1040 by alignment elements 301 located on the pallet 300 isperformed. When the pallet 300 is positioned over the receptacle 1040,these alignment elements 301 are pressed against a centering device 1045so that the pallet 300 rests completely against the centering device1045. If the pallet 300 is now lowered further by the transport device100, the centering device 1045 threads itself into the alignmentelements 301 (since these have a V-shaped recess, for example) so that alateral offset of the pallet 300 with respect to the receptacle 1040 isalso compensated. As a result, the pallet 300 is pre-centered withrespect to the receptacle 1040, and in particular with respect to thecones (here pallet cones 1044).

For example, the pallet 300 itself may rest on the pallet holder 350(which may be configured in the shape of a fork, for example) by apressure piece (not shown here) such that it is biased in the directionof the aligning elements 301 on the fork. This bias may be usedadvantageously, for example, to secure/fix the pallet 300 on the fork ofthe pallet holder 350.

If the pallet 300 or the alignment elements 301 are pressed against thecentering device 1045 of the receptacle 1040 (by the positioningmovement of the transport device 100), the pressure piece is compressedfurther and the fixation of the pallet 300 with respect to the fork iscancelled. Thus, the pallet 300 may be deposited on the receptacle 1040.

FIG. 16e schematically shows a further embodiment of the transportdevice 100 according to the invention with a pallet holder 350.

The sequence of positioning/precentering the pallet 300 with respect tothe receptacle 1040 is substantially the same as the sequence describedin FIG. 16d . However, it is not the pallet 300 itself that isaligned/precentered on the receptacle 1040, but the pallet holder 350carrying the pallet 300.

Here, too, the pallet holder 350 cannot be deposited on the machine tool1000 (or on another device) and remains on the receiving device 40 ofthe transport device 100.

For aligning/precentering the pallet 300 with respect to the receptacle1040, the pallet holder 350 now has alignment elements 351 that arepressed against the centering device 1042 during the positioningmovement of the transport device 100 with respect to the receptacle 1040and also have, for example, a V-shaped recess into which the centeringdevice 1042 can be threaded. This results in the precentering/alignmentof the pallet holder 350 with respect to the receptacle 1040, whichforms the basis for the alignment of the pallet 300 with respect to thereceptacle 1040.

At the same time, a pressure piece (not shown here, but comparable tothat described in FIGS. 2b and 2c ) can be further compressed bypressing the pallet holder 350 against the receptacle 1040, for example,in order to release the pallet holder 350 from its fixation with respectto the receptacle device 40 and to allow for the pallet holder 350 to bepositioned with respect to the receptacle 1040.

If the transport device 100 now is lowered further after the pallet 300has been precentered, the pallet 300 can be deposited on thecorresponding cones (for example pallet cones 1044, see FIGS. 16i and16j ). The transport device 100 is now free and can turn to a new task,for example receiving a new pallet.

FIG. 16f schematically shows another embodiment of the transport device100 according to the invention with a pallet holder 350, similar to whatis already known from FIG. 16 e.

However, the pallet holder 350 together with the pallet 300 can now bedeposited on the machine tool 1000 (or another device).

For this purpose, as already described in FIG. 16e , the pallet holder350 is aligned/precentered with respect to the receptacle 1040 by thealignment elements 351 and the centering device 1042. Here, too, it maybe advantageous if a pressure piece is further compressed and thus onthe one hand allows for the pallet holder 350 to be positioned withrespect to the receptacle 1040 and at the same time for the palletholder 350 to be lifted off the receiving device 40.

If the transport device 100 is now lowered further, the pallet 300 may,for example, be received directly by the receptacle 1040 (pallet cones1044) or the pallet holder 350 along with the pallet 300 is firstremoved from the receptacle 1040 (device cones 1041, see FIGS. 16i and16j ) and then the pallet 300 is received by means of the pallet cones1044.

FIG. 16g shows the state of the transport device 100 according to theinvention as shown in FIG. 16f when only the pallet 300 has beenreceived by the receptacle 1040. The transport device 100 may now moveaway from the machine tool 1000 with the pallet holder 350 received onthe receiving device 40 and take on a new task.

FIG. 16h shows the state of the transport device 100 according to theinvention as shown in FIG. 16f when the pallet holder 350 along with thepallet 300 has been received by the receptacle 1040. The transportdevice 100 can now move away from the machine tool 1000 again and takeon a new task, for example by receiving a new device (for example a newpallet holder 350, a handling device, another device as shown in FIGS.22 to 36, for example).

However, the embodiments of the transport device 100 according to theinvention shown and described in the previous figures and exemplaryembodiments are not restricted thereto and can expressly be combinedwith one another as desired.

FIG. 16i shows a configuration of a receptacle 1040 of a machine tool1000 for receiving a pallet holder 350 and/or pallet 300.

Here the receptacle also includes, in addition to at least one palletcone 1044 for receiving a pallet 300, at least one device cone 1041allowing for entire devices (such as a pallet holder 350) to be received1040 so that the transport device 100 can again be used for other tasksafter the device has been deposited at the machine tool 1000.

Furthermore, the receptacle 1040 includes at least one centering device1042 at which the device can align itself with respect to the receptacle1040 before it is placed/deposited on the at least one device cone 1041and/or the pallet 300 is placed/deposited on the at least one palletcone 1044.

Here, both the at least one pallet cone 1044 and the at least one devicecone 1041 may have a docking unit which locks/fixes the pallet 300 orthe device and/or has media connections similar to what is shown in FIG.2 d.

Furthermore, the receptacle 1040 may also have one or more separatemedia interfaces 1043 configured to transmit signals and/or energy fromthe machine tool 1000 to the device received.

Here, the media interface 1043 may transmit signals and/or energycontactlessly (for example inductively or optically), be embodied asplugged connection(s), and carry out transmissions by radio. Anycombination thereof is possible just as the expansion to include thesupply of fluids (for example cooling lubricant) or the like.

Furthermore, the receptacle 1040 may also additionally include at leastone centering device 1045 (not shown here, see FIG. 16d ) for aligningthe pallet 300 with respect to the receptacle 1040.

FIG. 16j shows the configuration of the receptacle 1040 of a machinetool 1000 as shown in FIG. 16i , but from a different perspective for abetter overview of the individual components of the receptacle 1040.

FIG. 17a schematically shows an embodiment of the transport device 100according to the invention with height adjustment of the transportdevice 100 according to the invention by means of lifting cylinders 50.

The chassis 10 is raised by the lifting cylinder 50 with respect to thewheels, so that the handling devices received also change their heightwith respect to the wheels 20 or to the machine tool 1000 (not shownhere).

FIG. 17b schematically shows a further embodiment of the transportdevice 100 according to the invention with height adjustment of thetransport device according to the invention by means of liftingcylinders 50.

Herein, an alternative is to be shown in which, in addition to thelifting cylinders 50, a suspension 60 (e.g. based on a lever mechanism)is also provided in order to lift the chassis 10 of the transport devicewith respect to the wheels 20 so that the handling devices carried alongalso change their height.

FIG. 18a schematically shows an embodiment of the transport device 100according to the invention with a pallet holder 350 and a pallet 300.

Here, it is to be clarified which movements the transport device 100performs during the depositing/receiving processes fordepositing/receiving a pallet 300 at a receptacle 1040 (not shown here).

For this purpose, the transport device 100 is raised by means of amechanism, as shown in FIGS. 17a and 17b , with respect to the wheel orwheels 20 (suspension lift, vertical arrow) in order to correspondinglyposition the pallet 300 and/or the pallet holder 350 above a receptacle1040 and then deposit it on the receptacle 1040 by lowering thetransport device 100.

During positioning, there may be contact between the pallet holder 350or pallet 300 to align the pallet holder 350/pallet 300 with respect tothe receptacle so that a positioning movement (approximately horizontalarrow) of the pallet holder 350 with respect to the receiving device 40of the transport device 100 is also carried out. This positioningmovement may, however, depend on the extent to which there is a drive 47(as described in FIG. 2b ) for supporting the fixing and/or positioningof the pallet holder 350 with respect to the receiving device 40 of thetransport device 100.

FIG. 18b schematically shows a further embodiment of the transportdevice 100 according to the invention with a pallet holder 350 and apallet 300.

Here, too, the transport device 100 is raised by means of a mechanism,as shown in FIGS. 17a and 17b , with respect to the wheel or wheels 20(suspension lift, vertical arrow) in order to position the pallet 300accordingly above a receptacle 1040 and then depositing it on thereceptacle 1040 by lowering the transport device 100.

During positioning, there may be contact between the pallet 300 to alignthe pallet 300 with respect to the receptacle so that a positioningmovement (approximately horizontal arrow) of the pallet 300 with respectto the pallet holder 350 is also carried out. This movement may actagainst a pressure piece (similar to the pressure piece 45 described inFIGS. 2b and 2c ) which is thereby pressed in further and loosens thefixation of the pallet 300 with respect to the pallet holder 350 andallows for the pallet 300 to be aligned with respect to the receptacle1040 and the pallet to be received by the receptacle 1040.

FIG. 19 schematically shows an embodiment of the transport device 100according to the invention with height adjustment of the receivingdevice 40 for receiving handling devices of the transport device 100according to the invention.

Here, the position of the chassis 10 with respect to the wheels 20 ofthe transport device 100 is not changed, but the receiving device 40changes its position with respect to the chassis 10 or with respect tothe platform carrier.

This has the advantage that the lifting cylinders 55 can be downsizedsince they do not have to bear the weight of the chassis 10 and theother handling devices and other additional weights.

FIG. 20a schematically shows a further embodiment of the transportdevice 100 according to the invention with a pallet changer 200 and ahood 210 for protecting the transported pallet 300, preferably forprotecting all sides of the pallet 300.

The hood 210 protects the transported pallet 300 from externalinfluences such as dirt, air currents or even rougher mechanicalinfluences, etc. Conversely, the hood 210 also protects the surroundingsfrom any chips or dripping cooling lubricant that may, for example, fallfrom the pallet 300 and could still adhere to the pallet 300 aftermachining of a workpiece 1 on the pallet 300 is completed.

For this purpose, the hood 210 may also include a closing device 215fort closing the opening of the hood 210 at said opening through whichthe pallet 300 is introduced into the hood 210 by the pallet changer200.

For this purpose, the closing device 215 may be configured in the formof a roller door, at least one folding door, at least one wing door, aflap pivotable about a horizontal axis, or a sliding door. However, theabove list should not be understood as exhaustive and may besupplemented by further configuration options.

FIG. 20b shows a further embodiment of the transport device 100according to the invention transporting a pallet 300 into a work spaceof a machine tool 1000.

Here, the work space is separated from the surroundings by a housing1060 and has an opening on one side, here for example the end face ofthe machine tool 1000, through which, for example, a machine operatorcan operate in the work space and through which the pallet 300 can beinserted into the work space of the machine tool 1000. To close thisopening, for example, a roller door, a sliding door, a single-leaf ordouble-leaf revolving door or a comparable device may be used.

Furthermore, the machine tool 1000, in particular the housing 1060, hasan access extending from the hall floor to the work space and into whichthe transport device 100 can move in order, for example, to insert apallet 300 into the work space of the machine tool 1000.

In order to protect the access for the transport device 100 from chipsand/or cooling lubricants, in particular during the machining of theworkpiece transported on the pallet 300, the transport device 100 or thepallet holder 350 may also have a collecting cover 360 for collectingthe chips and/or of the cooling lubricant. In an advantageous manner,the collecting cover 360 can then close the access at the upper end(transition from access to the work space) so that chips and coolinglubricant that are spreading/have spread in the work space can betrapped in the collecting cover 360 of the transport device 100 or thepallet holder 350.

In addition, it may be possible that a cover panel is located on the endof the transport device 100 or the pallet holder 350 facing away fromthe access when the transport device 100 enters the access in order toadditionally close the access from the outside after the transportdevice 100 has driven into the access of the housing 1060.

However, if the pallet 300 is removed from the work space by thetransport device 100, chips and cooling lubricant can still falloff/flow off, for example, from the inside of the walls of the housing1060 and be collected in the area of the access. In order to preventthese chips/cooling lubricants from contaminating the access for thetransport device 100, it may be advantageous to provide a steel cover1065 at the transition from the access of the housing 1060 to the workspace of the machine tool 1000, the steel cover being pushed back by thetransport device 100 (or by the handling device carried by the transportdevice 100, such as the pallet holder 350, etc.) when the transportdevice 100 enters the access in order to position/insert the pallet 300or the pallet holder 350 in the work space of the machine tool 1000(cf., for example, the lower image in FIG. 20b ).

Here, the steel cover may advantageously have several segments that canbe slid into one other so that they are relatively compact when pushedtogether. When the transport device 100 is moved out of the access, aspring mechanism (not shown here), for example, may push out thesegments or the steel cover 1065 as a whole to close the upper end ofthe access (see, for example, the upper image in FIG. 20b ).

Furthermore, the steel cover 1065 may have, at its end facing thetransport device 100 entering the access, a cover section having cutoutsin the form of the receptacle used for docking (comprising the conicalreceptacles 1051/conical recesses 355 and the interfaces 357/358; seealso FIG. 16c ).

Like the steel cover 1065 itself, the cover section is displaced whenthe transport device 100 moves in, wherein the conical receptacles 1051and, correspondingly, the interface 358 of the receptacle of the machinetool 1000 pass through the cutouts in the cover section so that thetransport device 100 or the handling device carried by the transportdevice 100 (for example a pallet holder 350; see also FIG. 16c ) candock to the receptacle of the machine tool 1000.

FIG. 20c shows a further embodiment of the transport device 100according to the invention transporting a pallet 300 into a work spaceof a machine tool 1000.

A round door 1070 is provided to close the opening through which, forexample, a machine operator could reach into the work space of themachine tool 1000 or through which the pallet 300 is inserted into thework space of the machine tool 1000.

If the round door 1070 is in the open state (as shown in the upperpicture of FIG. 20c , the semicircle of the round door 1070 faces, forexample, the work spindle 1100 (not shown here) of the machine tool 1000and thus separates the work spindle 1100 from the opening in the housing1060. In this way, it can be prevented, for example, that the machineoperator unintentionally touches a tool inserted in the work spindle1100 and is possibly injured.

For docking the handling device (such as a pallet holder 350 or anotherdevice) transported by the transport device 100 to the machine tool1000, as has already been described in FIG. 16c , a receptacle(including the conical receptacles 1051/conical recesses 355 and theinterfaces 357/358) may be used.

However, other connection options between machine tool 1000 andtransport device 100 or handling device may also be provided, such asconical receptacles 1051 which are provided on the hall floor (see alsoFIGS. 16a and 16c )

If the transport device 100 with the pallet 300 has moved through theopening of the housing 1060 into the work space of the machine tool1000, the round door 1070 closes the opening of the housing 1060 by arotary movement about an axis of rotation (as shown in the lower figureof FIG. 20c ), in particular by a rotary movement about the axis ofsymmetry of the round door 1070, which may be oriented vertically, forexample.

Advantageously, the collecting cover 360 may be formed, in particularwith regard to the use of the round door 1070 to close the opening ofthe housing 1060, taking into account the shape of the round door 1070in order to ensure an improved sealing of the work space of the machinetool 1000 from the environment with regard to stirred up chips andcooling lubricant.

For this purpose, it would also be advantageous if a comparablesemicircle is provided at the end of the collecting cover 360 of thepallet holder 350, at which the round door 1070 is positioned in theclosed state. An optimized sealing between the round door 1070 and thecollecting cover 360 and thus between the work space and the environmentof the machine tool 1000 could thus be obtained.

The receptacle used for docking on the machine tool 1000 (including theconical receptacles 1051 and the interface 358; see also FIG. 16c ) canfunction without an additional cover (as described for example in FIG.20b ). However, a combination of the steel cover 1065, as described inFIG. 20b , and the round door 1070 may also be used in order to provideadditional sealing in the housing 1060 of the work space of the machinetool 1000.

FIG. 21a schematically shows a hall floor with cones 1051 in a grid-likearrangement for positioning the transport devices 100 or the handlingdevices.

As already explained with reference to FIG. 16, the transport device 100can be lowered such that either the transport device 100 itself or thehandling device received by the transport device 100 is positioned bymeans of the cones 1051.

Another possibility is to configure the cones 1051 to be retractable,for example if the cones 1051 interfere with the movements of thetransport devices 100 on the hall floor. For this purpose, the cones1051 would have to have their own lifting device (for example pneumatic,hydraulic, electrical or mechanical) so that they can be lifted out ofthe hall floor or sunk into it. In addition, a combined lifting movementof the cones 1051 and the transport device 100 could also be performedin order to carry out the positioning.

FIG. 21b shows a further option of providing the cones 1051 on theunderside of the transport device 100 and only providing correspondingrecesses for the cones 1051 in the hall floor.

In this way, the lifting movement could now be performed by thetransport device 100 or the receiving device 40 in order to carry outthe positioning. Furthermore, however, it may also be possible for thecones 1051 on the underside of the transport device 100 to be sunk intothe recesses in the hall floor in order to allow for the transportdevice 100 or the handling device to be positioned.

In these cases, there is no longer any interfering contour on the hallfloor so that the transport devices 100 can travel over the hall floorwithout restriction. In addition, in the embodiment, as shown in FIG.21b , an additional lifting device (for example for the cones on thehall floor) can be omitted.

FIG. 22a schematically shows a further embodiment of the transportdevice 100 according to the invention with an industrial robot 600 asthe handling device.

In addition to or instead of a pallet changer 200 as a handling device,a robot 600 (industrial robot) may also be received by the receivingdevices 40 of the transport device 100. It may be used for a widevariety of tasks within the production process and may be furtheradapted depending on the application. Further examples thereof aredescribed in FIGS. 23 to 28 and 35.

Moreover, it is advantageous that the transport device 100 has a largenumber of receiving devices 40, wherein different modules/handlingdevices are receivable at each receiving device 40.

As shown in FIG. 22a , various material pallets 700, machine pallets 700or mesh boxes 700 can be received by the transport device 100.Furthermore, various auxiliary modules 750 (such as deburrers, storageboxes for tools, exchange grippers, etc.) can be received by thetransport device 100, which the robot 600 may use, for example, to carryout equipment work on the machine tool 1000 or post-processing on aworkpiece 1 manufactured by the machine tool 1000.

It should also be explicitly pointed out here that the transport device100 may also be equipped as a pure material feeder or tool feeder, forexample as a type of workpiece/tool cart exclusively loaded with one ormore material pallets 700 and/or tool pallets and/or mesh boxes 700,which can accordingly travel to processing stations or otherdestinations of the workpieces/tools.

Due to the possibility of receiving a pallet changer 200 and a robot 600on a transport device 100, workpiece and pallet handling mayadvantageously be combined as desired and circumstances in theproduction chain can be addressed in a customized manner.

FIG. 22b schematically shows two more specific exemplary embodiments ofthe transport device 100 according to the invention with robots 600received, both robots 600 being configured both for tool handling andfor workpiece handling. In particular for moving tools 102, for example,a tool changer may be received by the robot 600 (see, for example, thedetailed view in FIG. 22b ). Said robot could, for example, alsoexchange the tool 102 in the work spindle 1100 of the machine tool 1000.

FIG. 23 schematically shows a further embodiment of the transport device100 according to the invention with an industrial robot 600 and ameasuring unit 610 for tool testing.

With the configuration of the transport device 100 shown in FIG. 23 witha robot 600 and a measuring unit 610 for tool testing and a module 700with buffer spaces for the tools, the transport unit 100 can remove,measure and test the tools from a machine tool 1000 (not shown here).

The test may be carried out in a tactile or non-contact manner. Writingand reading units may also identify the tool and assign it accordingly.

The information obtained and the results of the test may now betransmitted via radio signals to a host computer control 2000 and may beprocessed accordingly.

FIG. 24a schematically shows a detailed view of a further embodiment ofthe transport device 100 according to the invention with an industrialrobot 600 and measuring and testing means 620 for testing components 1manufactured on a machine tool 1000 (here with pallet 300), as is alsoshown in detail in FIG. 24 b.

The component 1 may be tested by the robot 600 both in a tactile mannerand by scanning. Furthermore, an optical unit may test the component 1using an optical method.

The data and information obtained may again be transmitted by radio, byinduction or by appropriate connections/ports in the conical receptacles(not shown here).

FIG. 25 schematically shows a further embodiment of the transport device100 according to the invention with an industrial robot 600 and anattachment 630 for post-processing components 1 manufactured on amachine tool 1000 (here with pallet 300).

The attachment 630 may include a tool (e.g. a brush or a deburrer) withwhich the component can be post-processed automatically. Optical orsensor monitoring ensures the corresponding quality of the finishedcomponent 1 and checks whether further post-processing is necessary.

FIG. 26 schematically shows a further embodiment of the transport device100 according to the invention with an industrial robot 600 and a unit640 for sharpening and dressing tools.

In addition to the robot 600 and the unit 640 for sharpening anddressing tools, the transport device 100 also includes a protectiveenclosure 650 here with which the environment is protected from stirredup chips that result from the sharpening or dressing process.Advantageously, a flap (as indicated on the left side of the protectiveenclosure 650) may be provided through which the robot may reach andinteract, for example, with a work spindle of a machine tool (both notshown here).

Since the sharpening and dressing process involves machining steps, itis advantageous if the chassis 10 also includes an internal coolinglubricant tank 11 in order to cool and lubricate the machining process,as is common for a machine tool, and thus reduce tool wear. Furthermore,it may be advantageous to also provide a module 700 with buffer spacesfor storing tools on the transport device 100.

FIG. 27 schematically shows a further embodiment of the transport device100 according to the invention with an industrial robot 600 and amagazine 101 for carrying along various tools 102.

In this way, tools 102 can be inserted directly into a work spindle ofthe machine tool (not shown here) or into the magazine 101. The magazine101 may be configured as a wheel, tower, plate or chain magazine.However, further variants of magazines 101 may also be used.

In particular, instead of or in addition to a magazine 101 fordepositing tools 102, tool pallets (not shown here) may also be receivedby the transport device 100 and used accordingly for a variety ofapplications.

It should be expressly pointed out here that one or more tool palletsmay also be received by the transport device 100 and delivered to theirdestinations independently of the presence of an industrial robot 600.

In a particularly advantageous manner, the robot 600 may be providedwith a closing plate 601 in order to ensure safety during a tool changeon a work spindle 1100 of the machine tool 1000 (as shown in FIG. 28).

FIG. 28 schematically shows the embodiment of the transport device 100according to the invention in FIG. 27 during the interaction of theindustrial robot 600 with the work spindle 1100 of the machine tool1000, for example in order to exchange the tool 102.

Here, the advantage the closure plate 601 offers for ensuring the safetyof the machine tool 1000 during the tool exchange is shown once again.

FIG. 29 a schematically shows a further embodiment of the transportdevice 100 according to the invention for chip removal on a chip cart1400 of a machine tool 1000.

A module 800 for collecting the chips is mounted on the transport device100, the module 800 also having a tilting mechanism 810 for unloadingthe collected chips at a defined location.

The tilting mechanism may be configured in various ways. Both electricaland hydraulic or pneumatic drives may be provided. Furthermore, rack andpinion gears, screw gears or simply corresponding pneumatic or hydrauliclifting cylinders may be used to generate the tilting movement of themodule 800. However, other drives/gears may also be used in variouscombinations with one another.

A further embodiment of the transport device 100 according to theinvention with the module 800 for collecting the chips is shown in FIG.29b , the transport device 100 here also being provided with a liftingmechanism 820 able to lift a chip container 825 filled with chips andempty it into the module 800. Here, the chip container 825 can nowadvantageously stay on the chip cart 1400 of the machine tool 1000 untilit is filled appropriately and information is sent, for example to thecentral main computer control 2000, which then sends the transportdevice 100 with the module 800 and the lifting mechanism 820 to emptysaid chip container 825.

In addition, the transport device 100 may also be configured to couplean additional container cart 830 and to use it for collecting andtransporting chips.

FIG. 29c shows a further embodiment of the transport device 100, whereinthe module for collecting the chips 800, as already shown in FIGS. 29aand 29b , is received on the upper side of the transport device 100.Advantageously, the module 800 shown can be placed on a wide variety ofchip carts/chip collectors 1400 by means of two setup portions on theside. If the chip cart 800 has been filled appropriately, the signal canbe sent to the transport device 100 to receive the module 800 again andto deliver the chips to further treatment and/or disposal.

For the positioning of the module 800 on the chip cart 1400 by thetransport device 100, for example, again conical receptacles 1051present in/on the hall floor may be used. Furthermore, the conicalreceptacles 1051 may also have the properties already described in FIGS.16a and 16 c.

FIG. 30 schematically shows a further embodiment of the transport device100 according to the invention for conditioning and refilling a machinetool 1000 with cooling lubricant.

Here, the transport device 100 includes a module 900 for collecting orsucking in the used cooling lubricant from the machine tool, wherein themodule 900 may further include a tank 920 and a filter 930 forconditioning the used cooling lubricant. A suction device 910 may beconnected directly to the machine tool 1000 and suck the used coolinglubricant into the tank 920. Furthermore, the suction device 910 mayalso be configured to suck cooling lubricant accumulated in the chipcontainer 825 back out of the chip container 825 and deliver it to theconditioning.

FIG. 31 schematically shows a further embodiment of the transport device100 according to the invention for delivering and inserting workpieces 1into a machine tool 1000 for turning.

Here, the workpieces 1 may be bar material, for example, which is fed tothe turning machine tool 1000 by a bar loader 470 received by thetransport device 100.

For proper interaction of the bar loader 470 and the machine tool 1000,in particular the work spindle 1100, it is advisable again to positionthe transport device 100 by means of the already described conicalreceptacles 1051 (not shown here) provided at the corresponding point onthe machine tool 1000.

This ensures that the bar material (workpieces 1) is correctly insertedinto the machine tool 1000 or into the work spindle 1100 so that theautomated manufacturing process can proceed smoothly.

As shown in FIG. 31, the machine tool 1000 may further be equipped witha tool turret 1500 which can deliver the tool necessary for therespective processing step to the rotating bar material. In addition,the conical receptacles 1051 may again have the options for establishinga connection for energy and/or signal transmission already described, sothat the energy store 30 (not shown further here) of the transportdevice 100 is no longer burdened by the process of supplying material.

FIG. 32a schematically shows a further embodiment of the transportdevice 100 according to the invention as a material store 700 for amachine tool 1000 with a gantry loader 1600.

Here, the material store 700 may be received by different receivingdevices 40 of the transport device 100, which is to be clarified by thetwo transport devices shown. Furthermore, one of the transport devices100 may also provide the unfinished parts to the machine tool 1000 orthe gantry loader 1600, while the other transport device 100 receivesthe finished parts/workpieces.

With this configuration of the parts or material handling, theautonomous machine runtimes can be increased since the unfinished partsand/or the finished parts can now be transported automatically.

The gantry loader 1600 includes a gripper 1610 which, for example, canbe moved along an x and a z direction and which feeds the unfinishedparts to the work spindle 1100 until they are clamped in the workpiecereceptacle of the work spindle 1100. Here, too, a tool turret 1500 mayagain deliver the tool required for the current processing step to theunfinished part/workpiece.

However, this embodiment of the transport device 100 is not onlysuitable for turning machines, but may also be used for known millingmachines.

Furthermore, this embodiment of the transport device 100 is particularlyadvantageous in that a large part of the gantry loaders that are alreadyused on a machine tool 1000 can be adapted to the transport devices 100for material handling without great effort.

FIG. 32b shows a further embodiment of the transport device 100according to the invention as a material store 700 for a machine tool1000 with a robot 600 for exchanging workpieces in the machine tool1000.

As already described in FIG. 16c , the transport device 100 may dockhere with the handling device or, in this case, with a module 700received by the transport device 100 (here store for unfinishedmaterial) on the machine tool 1000 (by means of the conical receptacles1051 and the interface 358).

Furthermore, the transport device 100 can now, if necessary, first“deposit” the material store 700 on the machine tool 1000 in order to beavailable for other tasks. Only when the unfinished material stored inthe material store 700 has been used up, the transport device 100 wouldhave to come back and receive the module 700 again and transport it awayaccordingly.

For this purpose, the machine tool 1000 advantageously has at least one,but particularly advantageously at least two docking stations. Thus, thetransport device 100 may dock a new material store 700 filled withunfinished parts on the machine tool 1000 and then receive an emptiedmaterial store 700 from the other docking station and transport it awayaccordingly.

However, the concept of the machine tool 1000 shown here is not limitedto the robot 600 being arranged outside of the machine tool 1000;rather, the robot 600 may also be provided in the work space of themachine tool 1000 and, if necessary, reach out of the machine tool 1000into the docked material store 700 for a new unfinished part. However,completely different machine concepts can also be supplied with thetransport device 100 with the material store 700 (or another module700).

FIG. 33a schematically shows a further embodiment of the transportdevice 100 according to the invention with a conveyor belt 400 betweentwo machine tools 1000 with gantry loaders 1600. Furthermore, the twomachine tools 1000 each include, for example, a work spindle 1100 and atool turret 1500.

Here, the conveyor belt 400 received by the transport device 100 mayfurther be provided with receptacles for components or workpieces (see,for example, the detailed illustration in FIG. 33b ). In addition, it isparticularly advantageous that the transport device 100 with theconveyor belt 400 can be used as a “stand-alone” unit, for example inorder to exchange unfinished parts or workpieces already machinedbetween two machine tools 1000. Furthermore, it is possible for theconveyor belt to hold certain areas ready for setup (setup stations)through which the conveyor belt 400 can be equipped with unfinishedparts/machined workpieces.

In addition, it may be particularly advantageous that the conveyor belt400 can be lined up (folded) at the transport device 100 by acorresponding mechanism (not shown further here) (see for example FIG.33c ), for example in order to bridge larger distances. For thispurpose, a plurality of transport devices 100 may then also be providedwith conveyor belts 400 arranged in series in order, for example, toestablish a type of conveyor bridge.

Furthermore, it should be pointed out here that the embodiment of theconveyor belt 400 is not limited exclusively to the embodiment shown.Rather, a type of conveyor chain or the like may also be used instead ofa conveyor belt.

Furthermore, it may also be possible for the conveyor belt 400 to berotatably mounted with respect to the transport device 100, which hasreceived and transported the conveyor belt, so that an alignment of theconveyor belt 400 for the respective purpose can take place separatelyfrom the positioning of the transport device 100 (see FIG. 33c ). Thisallowed for an increased flexibility for the use of the conveyor belt400 to be achieved.

FIG. 34 schematically shows a further embodiment of the transport device100 according to the invention for the auxiliary suction 420 of the workspace of a machine tool 1000.

For this purpose, it is advantageous that the transport device 100 canreceive a corresponding suction 420 and can position itself accordinglyat an access in the housing 1030 of the machine tool 1000 in order tosuck off dirt and impurities generated before, during and aftermachining a workpiece.

The suction 420 is primarily intended to support the standard suction1020 that is often already present in a machine tool 1000. However,should the latter be defective or not even present, the suction 420 canreplace it. The sucked off and collected dirt may be stored in acontainer and emptied if necessary.

FIG. 35 schematically shows a further embodiment of the transport device100 according to the invention with a robot 600 and an applicationdevice 770 received by the robot 600.

Using the application device 770, a component/workpiece can now beadditively manufactured on a machine tool 1000, for example, since theapplication device 770 is configured for deposition welding (or anotheradditive manufacturing method), for example. For this purpose, thetransport device 100 may, for example, also receive a powder or mediatank 775 storing the material to be applied (for example metal powder,etc.). A feed or suction 777 between the powder or media tank 775 andthe application device 770 ensures that material is guided from thepowder or media tank 775 to the application device 770 or that excessmaterial is sucked off again during the manufacturing process and fed tothe powder or media tank 775.

The advantage of mobile additive manufacturing is that essentially everymachine tool 1000 can be expanded by such additive manufacturing withoutthe corresponding machine tool 1000 having to be converted. Furthermore,for additive manufacturing, the machine cabin and/or suction alreadypresent on the machine tool 1000 may advantageously be used asprotection for the manufacturing process and for the operator.

It should be noted, however, that a machine tool 1000 does notnecessarily have to be present in order for mobile additivemanufacturing to be usable. For example, the application device 770 mayadditively manufacture the desired component/workpiece on any base or inany environment. Or the transport device 100 may move to theworkpiece/component that is already present and machine it in placeusing the application device 770 received.

As already described above, cones 1051 (not shown here) could forexample again be used to optimally position the transport device 100 atthe machine tool 1000 or at the component/workpiece in order to ensurequality manufacture.

FIG. 36 schematically shows a further embodiment of the transport device100 according to the invention with a tool changer 720.

Here, for example, the transport device 100 may approach the machinetool 1000, in particular the work spindle 1100, with a tool received inthe tool changer 720 and carry out the tool exchange there by rotatingthe tool changer 720.

Furthermore, instead of the tool changer 720, a changer-storagecombination 720 may also be transported by the transport device 100 tothe machine tool 1000. The advantage is that this changer-storagecombination 720 has a significantly larger capacity for receiving toolsthan a simple tool changer such as a fork gripper or a hook gripper.

Now, if the changer-storage combination 720 is positioned in front ofthe machine tool 1000 or the work spindle 1100, the work spindle 1100can remove the desired tool from the changer-storage combination 720(for example a chain magazine or wheel magazine with correspondingdrives), the changer-storage combination 720 being able to accelerate orsimplify the tool change, for example by rotating the desired tool withrespect to the work spindle 1100.

However, the transport device 100 may only have a tool store 720 (forexample as a chain magazine, wheel magazine or shelf magazine etc.)which is transported to the machine tool 1000 and from which the workspindle 1100 of the machine tool 1000 may independently pick up thedesired tool.

Furthermore, the above options may also be combined with one another sothat, for example, a transport device 100 with a tool store 720 alongwith a transport device 100 with a tool changer 720 are positioned infront of the machine tool 1000 and perform the tool exchange at themachine tool 1000 in cooperation with one another.

Furthermore, the above-mentioned options are not restricted to toolssince, for example, instead of the tools, workpieces or tools andworkpieces may be stored and/or exchanged at the same time.

FIG. 37 schematically shows a further embodiment of the transport device100 according to the invention for transporting milling heads 1120 to amachine tool 1000 with stand element 1300 and pallet 300 (but may alsobe designed as a machine table).

Here, it is particularly advantageous that the milling heads 1120 can betransported quickly and easily to the respective machine tool 1000 dueto the flexibility of the transport devices 100. Where previously aterminus station was required in order to provide the milling heads 1120appropriately, the milling heads can be “ordered” by means of thetransport devices 100 in conjunction with the main computer control 2000(not shown here) and then arrive by transport unit 100 at theirrespective location of usage. A terminus station is thus completelysuperfluous.

In addition, this configuration of the transport devices 100 allows formilling heads 1120, in particular special milling heads, to be exchangedbetween all machine tools 1000 with a head interface. In addition, therespective milling heads do not need to be purchased multiple times,ensuring a high potential for cost savings.

For example, the transport devices 100 may pass under the machine tool1000 in order to bring the milling heads 1120 to their desired location,but other ways of delivering the milling heads 1120 to the machine tool1000 may also be chosen.

FIG. 38 schematically shows a further embodiment of the transport device100 according to the invention with a workpiece receptacle 450 for largeparts.

Here, a plurality of transport devices 100 may cooperate again in orderto transport the large parts (here marked as workpiece 1) appropriately.For this purpose, the workpiece receptacles 450 may be equipped withclamping devices (hydraulic, pneumatic, vacuum, mechanical clamps, etc.)by which the large parts are held on the transport devices 100 and arefed to a processing machine configured for this purpose (machine tool1000, here with stand elements 1300 and a grinding attachment 1150).

In addition, as already described, conical receptacles 1051 (not shownhere) may, in addition to positioning the transport devices 100 underthe grinding attachment 1150 of the machine tool 1000, again enable aconnection for the transmission of energy and/or (control) signals fromthe machine tool 1000 to the transport device 100.

By using the workpiece receptacle 450, the transport devices 100 combinethe concept of a workpiece changing device with a machining table toform a type of modular machine tool 1000 in order to make the processingof large parts as efficient and flexible as possible.

FIG. 39 schematically shows a further embodiment of the transport device100 according to the invention as a component of various machineconcepts of a (modular) machine tool 1000.

It is particularly advantageous here if the transport device 100receives a pallet 300 and can then be used directly as a workpiece ormachine table carrier in a machine tool 1000.

The advantages herein are that the cones used for positioning and fixing(conical receptacles, e.g. like the conical receptacles 1051 alreadydescribed) allow the transport device 100 to be used directly as aworkpiece or machine table carrier (cf. also FIG. 44). A machine tool1000 can thus be equipped without a machine table of its own.

As a workpiece carrier, the transport device 100 may thus move to aplurality of machine tools 1000 sequentially and carry out therespective processing (e.g. milling, grinding, . . .) without reclampingand thus without a loss of accuracy.

Measurement processes on the workpiece can thus be carried out directlyin the clamping situation given. The transport device 100 can traveltogether with the workpiece into the measuring room (e.g. a coordinatemeasuring machine or the like). This eliminates any tensioning orwarping by opening the workpiece clamp.

This allows for completely new machine concepts, as illustratedschematically by way of example with a console machine (FIG. 40a ) and aportal machine (FIG. 39).

FIG. 40a schematically shows an embodiment of the transport device 100according to the invention with a received pallet 300 on a consolemachine as a (modular) machine tool 1000.

The pallet 300 received by the transport device 100 may be provided withan additional axis (see console machine; here a rotation axis R1) inorder to optionally create a milling-turning machine concept.

Furthermore, the connection of the transport device 100 and the pallet300 (here with an additional axis of rotation R1) may be designed as amilling table, NC rotary table, swiveling rotary table, milling rotarytable or the like and thus used for a wide variety of workpiecemachining applications.

In the example shown, also a console-type machine tool 1000 is usedwhich includes, in addition to a stand element 1300 and a transverseelement 1200, a work spindle 1100, the work spindle 1100 being movablein the x, y and z directions relative to the stand element. In addition,the transport device 100 may be moved in the x and y directions and thepallet 300 may rotate about the z axis via the axis of rotation R1.Furthermore, the console machine may also be expanded by an additionalaxis of rotation R2, as is described in FIG. 40 b.

FIG. 40b schematically shows a further embodiment of the transportdevice 100 according to the invention as a component of various furthermachine concepts of a (modular) machine tool 1000.

As already explained with reference to the concepts in FIGS. 39 and 40a, a console machine may be provided with an additional axis of rotationR2 on the work spindle 1100 in order to change the position of the workspindle 1100 with respect to the pallet 300 or to the transport device100 by 90° by pivoting the work spindle 1100 by 180° about the axis ofrotation R2. This is advantageously possible because the axis ofrotation R2 and the plane/surface of the pallet 300 essentially are at a45° angle to one another. Furthermore, as shown in FIG. 40c , anapplication of the transport device 100 in a horizontal machining centermay also be conceivable, wherein this may also be expanded by anadditional axis of rotation R2 (not shown here) as seen on the consolemachine in FIG. 40a , so that the work spindle 1100 of the horizontalmachining center can also be pivoted by 90° to the pallet 300 or to thetransport device 100 if necessary.

In both cases, the transport device 100 with a pallet 300 (in FIGS. 40band 40c each with a rotation axis R1) is again configured as a “machinetable”, with the machine table also being usable as a rotary table dueto the rotation axis R1, if necessary, to ensure even greaterflexibility of the transport device 100 equipped with the pallet 300. Asa result, the transport device 100 can again approach and leave aprocessing station after the other so that corresponding processingsteps can be carried out on the workpiece 1 (not shown here) at therespective processing station.

In both diagrams (FIGS. 40b and 40c ), the work spindles 1100 are againdelivered via the linear axes in the x, y and z directions to the pallet300 or to the transport device 100.

FIG. 41 schematically shows a further embodiment of the transport device100 according to the invention carrying a plurality of pallets 300 orworkpieces in interaction with a stationary industrial robot 3000 forhandling/processing the workpieces (on the left) and a furtherembodiment of the transport device 100 according to the invention with amilling robot 600 (on the right).

The stationary industrial robot 3000 shown in the left image may also bereplaced by a transport device 100 equipped with a corresponding robot600 as an attachment, and thus the flexibility of the productionprocesses increases further. In both cases (stationary industrial robot3000 or transport device 100 with robot 600) the workpieces on thepallets 300 of the right transport device 100 are processed or handledby the robot.

The milling robot 600 shown in the image on the right can be moved toand be available at a large number of processing stations within a veryshort time thanks to its movability with the aid of the transport device100 (e.g. to support additional milling work when milling a workpiece ina machine tool or to carry out the milling work entirely on its own).Moreover, the mobile milling robot 600 may also be used to machinecomponents, the size of which could hardly or not at all be accommodatedin a machine tool, so that the component does not have to be brought tothe processing machine, but the processing machine comes to thecomponent. This also increases the flexibility in the productionprocesses.

FIG. 42 schematically shows a further embodiment of the transport device100 according to the invention as part of a machine concept of a(modular) machine tool 1000 with a portal configuration and a pluralityof transport devices 100.

As already shown in FIG. 39, the transport device 100 equipped with apallet 300 may move into the work area or work space of a machine tool1000 in portal configuration, the machine tool 1000 processing theworkpiece directly on the pallet 300 moved in by the transport device.Here, the machine tool 1000 again includes stand elements 1300 and atransverse element 1200 on which the work spindle 1100 can be moved inthe y and z directions. In turn, the transverse element 1200 can now bemoved in the x direction with respect to the stand elements 1300.

In particular, it is advantageous if, for handling or carrying heavyworkpieces, a plurality of transport devices 100 together transport theworkpiece or the pallet 300 (or a machine table) into the machine tool1000.

For this purpose, the transport devices 100 may be mechanically coupledto one another via the pallet (but see also FIG. 43; possibly with aconnection for transmitting signals and/or energy) or controlled soprecisely and synchronously by the main computer control 2000 (not shownhere) that a coupling or signal and/or energy transmission are notnecessary.

FIG. 43 schematically shows a further embodiment of the transport device100 according to the invention, wherein a plurality of transport devices100 are connected to one another by couplings 105 to form a unit.

As already briefly shown in FIG. 42, it may be advantageous to provide acoupling 105 between two transport devices 100 in order to distributemechanical forces to both transport devices 100 on the one hand and tohave the option of exchanging both signals and energy between the twotransport devices 100 via the coupling 105.

It should also be noted here that, instead of the couplings 105 or inconjunction with the couplings 105, the receptacles 1040 can be used fordocking a device on a machine tool 1000, as shown for example in FIG.16c , for connecting/docking two (or more) transport devices 100 ormovable machine tool structures with each other. Signals and/or energymay also be transmitted through the conical receptacles used and lockingcan take place.

FIG. 44 schematically shows a further embodiment of the transport device100 according to the invention during positioning and establishment ofan energy and/or signal connection below a machine tool 1000 in portalconfiguration.

In addition to the already described components of the machine tool1000, such as stand elements 1300, transverse element 1200 and workspindle 1100, conical receptacles 1051 of the machine tool are alsoshown, wherein these, in addition to positioning the transport device100 when it is lowered above the conical receptacles by means of itslifting cylinders 1051, can establish a connection via which, forexample, energy and/or signals for controlling or monitoring thetransport device 100 can be transmitted to the transport device 100 andvice versa from the transport device 100 to the machine tool 1000.

Due to the conical receptacles 1051, the pallet 300 can be positionedprecisely under the machine tool 1000 and, and this is particularlyadvantageous, the transport device 100 or the received pallet 300 can becontrolled without burdening the internal energy store (not shown here)of the transport device 100, since the energy is provided on part of themachine tool 1000 and fed into the transport device 100 via theconnection described.

FIG. 45 schematically shows a (modular) machine tool 1000 comprising aplurality of transport devices 100 according to the invention withdifferent subtasks.

The example shows a transport device 100 with a received pallet 300 (ormachine table, for example also with an additional axis of rotation R1)and a workpiece 1 located thereon. In the immediate vicinity thereof isa second transport device 100 with a robot 600 for processing theworkpiece 1. For this purpose, the robot 600 may have a wide variety oftools, for example a milling cutter, a grinding tool, or a device thatapplies material.

Moreover, the machine tool 1000 comprises a third transport device 100with a robot 600 configured, for example, to exchange the tool receivedby the other robot 600. As already described above, this transportdevice may also carry additional modules 700 (such as mesh boxes,material pallets, further material carriers, machine pallets, modules ofbuffer spaces for tools) from which the robot 600 can, for example,remove tools and transfer them to the other robot 600 for processing theworkpiece 1.

In addition, the (modular) machine tool 1000 may include an optionalcabin 1035 within which the transport devices 100 can process theworkpiece 1 and exchange the tool. It may also be advantageous if theoptional cabin 1035 has entrances and exits for the transport devices100 and also a suction (such as the suction 420 or the standard suction1020 for stationary machine tools 1000) to suck up dirt from the cabin1035. In addition, further transport devices 100 may also be used here,for example for additional suction of dirt (for example through thesuction 420), the provision of cooling lubricant (module 900 forcollecting or sucking off the used cooling lubricant from the machinetool) and/or to ensure chip removal (module for collecting chips 800).

The advantage of such a (modular) machine tool 1000 is that it can beexpanded as required by further transport devices 100 with furthersubtasks. Furthermore, however, it is also possible to build the(modular) machine tool 1000 as a supplement to an already existing,stationary machine tool 1000 in the immediate vicinity thereof, forexample to carry out remaining work (deburring, grinding, etc.) on theworkpiece 1.

A clear advantage of a modular machine tool 1000 is also that largecomponents (as already shown in FIG. 38, for example) can be processeddirectly on the transport devices 100 carrying the component, withoutthe component having to be reclamped. Various (large) components canthus be moved into the work space of a transport device 100 carrying,for example, a robot 600 with a milling tool and can accordingly beprocessed further there.

Again, cones located on the hall floor (such as, for example,cone-shaped receptacles 1051; see also explanations for FIGS. 16a, 16b,21a, 21b and 44) may be used for precise positioning of the transportdevices 100 with respect to one another; these, as already describedabove, may have clamps so that exact positioning of the transportdevices 100 is not only achieved, but also secured by the clamps.

Moreover, the transport devices 100 may also be connected to one anotherby a coupling 105 (e.g. also to form a unit) in order, for example, toexchange both signals and energy between the transport devices 100 (seealso explanations relating to FIG. 43).

FIG. 46 schematically shows a further embodiment of the transport device100 according to the invention with a tailstock attachment 1180 forturning (for example large/long) workpieces 1 as a further concept of a(modular) machine tool 1000.

Here, the alignment of the tailstock attachment 1180 with respect to thework spindle 1100 (here a stationary work spindle 1100) in the x and zdirections may be performed, for example, by the drive 20 of thetransport device 100. An alignment of the tailstock attachment 1180 inthe y direction can now be performed, for example, by the liftingcylinders 50 (as shown in FIGS. 17 and 18) of the transport device 100.

However, a finer adjustment of the tailstock attachment 1180 withrespect to the transport device 100 in the x, y and z directions canadditionally or exclusively be implemented by means of correspondingdrives and guides between the tailstock attachment and the receivingdevice 40 of the transport device 100. This may be necessary, forexample, when the positioning accuracy via the drives 20 of thetransport device 100 is insufficient or when the positioning of thetransport device 100 is determined by conical receptacles 1051 in thehall floor.

In addition, a steady rest 1181 may be used as a support for very longworkpieces 1 in order to obtain greater precision during turning andcylindrical grinding. For the machining itself, a further transportdevice 100 may now, for example, move up to the workpiece 1 and use areceived tool carrier (for example a tool slide, not shown here) forprocessing the workpiece 1. For the delivery of the tool to theworkpiece 1, now the drives 20 of the transport device 100 may be usedagain and/or an additional delivery mechanism (for finer feed movements)may be provided between the tool carrier and the transport device 100.

FIG. 47 schematically shows a variety of transport devices 100 accordingto the invention with different tasks within a production chain.

The driverless transport system (FTS) preferably includes asuperordinate main computer software integrated in the main computercontrol 2000 which controls and monitors the individual orders. The hostcomputer software is preferably able to control and monitor n+1transport devices 100 at the same time.

The communication between the transport devices 100 and the maincomputer control 2000 preferably works wirelessly via WLAN or radio, forexample.

The transport device 100 preferably includes an optical informationsource such as a status light (not shown here) which serves as a graphicrepresentation of the state of the transport device 100. Here,preferably the traffic light logic is used. Green=status ok, yellow:malfunction, red: problem. Alternatively, this light may also indicatefurther states by means of additional optical signals such as flashing.

If a plurality of transport devices 100 are in use, these may preferablyshare the handling devices (such as pallet changers 200, robots 600,modules 700 (such as material pallets, mesh boxes, etc.), the module 800for collecting the chips, the module 900 for collecting or sucking offthe used cooling lubricant from the machine tool 1000). This ensures aneven more flexible solution for automation.

Preferably, the transport device 100 places a handling device that is nolonger required in a known location. A further transport device 100 maymove to this handling device, receive it and use it.

The transport devices 100 preferably include a means of communicationwith other transport devices 100. Thereby it is possible to indicatesources of disturbance such as occupied travel paths, jointly usedhandling devices and their location and to any other information andrespond thereto. The main computer control 2000 may optionally take overthis task.

The transport device 100 preferably includes an interface which allowscommunication, energy transmission to machine tools 1000 or stations.These interfaces are preferably contactless, but they may alsoalternatively be implemented via connectors or near field communication.

The tasks shown may also be expanded by the previously describedconcepts of a modular machine tool 1000 (see FIGS. 38 to 46) and linearstorage (see FIG. 13) in order to ensure overall flexible and efficientproduction and machining of workpieces.

FIG. 48 schematically shows the method according to the invention forhandling a pallet 300 and/or a workpiece on a machine tool 1000 by meansof a pallet changer 200.

At the beginning, the transport device 100 is to receive a palletchanger 200 which preferably already carries a pallet 300 that is to beinserted into the machine tool 1000.

When the pallet changer 200 (handling device) is received, a connectionbetween the transport device 100 and the pallet changer 200 may beestablished via connection elements of the transport device 100, viawhich control signals and/or energy are transmitted from the transportdevice 100 to the pallet changer 200.

However, this step is omitted in the illustration since receiving ahandling device (such as a pallet changer 200) and establishing theconnection for energy and/or signal transmission have already beendescribed several times in the previous embodiments.

As shown in step S101, the transport device 100 with the received palletchanger 200 and the pallet 300 moves up to the machine tool 1000, whichitself already has a pallet 300 in its work space.

In the subsequent step S102, the pallet changer 200 is positioned infront of the machine tool 1000. As already described, this can be donein such a way that either the transport device 100 itself carries outthe positioning by means of travel movements or the transport device 100is positioned opposite the machine tool 1000 by lowering its chassis 10onto conical receptacles 1051 (not shown here), or the transport device100 deposits the pallet changer 200 on conical receptacles 1051.

In this way, either energy and/or signals (e.g. for controlling thepallet change) can be transmitted from the transport device 100 to thepallet changer 200 or the pallet changer 200 can be connected directlywith the machine tool 1000 by placing the pallet changer 200 on theconical receptacles 1051 of the machine tool 1000 so that signals and/orenergy from the machine tool 1000 are transmitted directly to thedeposited pallet changer 200.

It is also shown that the pallet changer 200 has already received thepallet 300 previously inserted in the machine tool 1000.

In step S103, the pallet 300 located in the machine tool 1000 is liftedout by the pallet changer 200 and a rotation of the pallet changer isinitiated so that the pallet 300 carried by the pallet changer 200approaches the pallet receptacle of the machine tool 1000, as is alsoshown in step S104.

In the following step S105, the pallet 300 previously carried by thepallet changer 200 is positioned above the pallet receptacle of themachine tool 1000 by rotating the pallet changer 200 and is deposited onthe pallet receptacle of the machine tool 1000.

This is followed by lifting the pallet changer 200 from the conicalreceptacles 1051 and the removing/moving away the transport device 100with the pallet changer 200 and the pallet 300 removed from the machinetool 1000, as shown in step S106.

Furthermore, the method may also proceed in such a way that, after thepallet changer 200 has been deposited on the machine tool 1000, thetransport device 100 continues to move without the pallet changer inorder, for example, to receive another handling device (another palletchanger 200 or the like) in the meantime and to bring it to a machinetool 1000 or a storage station 500 (not shown here) according to theorder.

Subsequently, the transport device 100 or another transport device 100may, after the pallet has been exchanged, receive the pallet changer 200deposited in front of the machine tool 1000 again and proceedaccordingly.

The above-mentioned method steps may, however, also include therespective function-specific steps of the individual modules and devicesthat are received by the transport device 100. These can comprise, forexample:

processing the workpiece by means of a tool and/or an application deviceby a robot 600; exchanging the tool and/or workpiece by means of a toolchanger 720/a changer-storage combination 720/a tool store 720;extracting and conditioning cooling lubricant; collecting and disposingmaterial chips; deburring and/or measuring the contour of the workpiece1; transporting pallets 300 carrying workpiece 1; transporting a millinghead 1120; coupling at least two transport devices 100 with each other;etc. (see also the explanations for FIGS. 3 to 46).

Examples and exemplary embodiments of the present invention and theiradvantages have been described in detail above with reference to theaccompanying figures.

It should be emphasized again that the present invention, however, is inno way limited or restricted to the exemplary embodiments describedabove and their design features, but rather further comprisesmodifications of the exemplary embodiments, in particular those that areincluded within the scope of protection of the independent claims viamodifications of the features of the described examples or by combiningindividual ones or a plurality of the features of the examplesdescribed.

In particular, it should be pointed out here that to wide variety ofconfigurations and functions that the transport device 100 according tothe invention can fulfill may be combined with one another in order toprovide an extremely flexible machine concept in order to make theprocessing of workpieces 1 even more flexible and efficient. Inparticular, the above-mentioned concepts of the modular machine tool maybe expanded by the various additional functions of the transport device100 according to the invention mentioned further above, as well as bythe provision and exchange of workpieces 1 and/or pallets 300.

However, already existing machine tools 1000 may simply be expanded byadditional functions and/or by workpiece and pallet handling.Furthermore, modular machine tools may also be combined with stationarymachine tools in order to make the production/machining of workpieces 1more flexible.

Furthermore, according to the invention, a transport device 100 can, forexample, take on tasks from the area of the modular machine tool andadditional functions at the same time. A transport device according tothe invention is not limited to just one area but can simultaneouslytake on a wide variety of tasks from different areas.

The above options are therefore not to be interpreted as restrictive andcan expressly be combined with one another in any way.

LIST OF REFERENCE SYMBOLS

1 component/workpiece

10 chassis/platform

20 wheel

30 energy store

35 internal controller

40 receiving device

41 conical portions of the receiving device

42 interface of the receiving device

43 fasteners and connections

44 recess

45 pressure piece

46 centering device

47 drive for moving the recesses

48 bolts

50 lifting cylinders (for wheel or suspension)

55 lifting cylinder (for receiving device)

60 suspension

70 connector

71 pressure piece of the connector

72 connector fixing

73 mechanical stop

74 connection interface

75 connector body

100 transport device

101 magazine

102 tool

103 counterpart (to prism)

105 coupling (between two transport devices)

200 pallet changers

210 hood

215 locking device

300 pallet

301 alignment element of the pallet

350 pallet holder

351 alignment element of the pallet holder

355 conical recesses

357 interface of the pallet holder

358 interface of the machine tool

360 collection cover

400 conveyor belt

420 suction

450 workpiece receptacle

470 bar loader

500 storage station

510 conical receptacle (at storage station)

520 storage station with roller technology

600 robot/industrial robot

601 locking plate

610 measurement unit

620 measuring and testing means

630 attachment for post-processing components

640 unit for sharpening and dressing tools

650 protective enclosure

700 module (mesh boxes, material pallets, other material carriers,machine pallets, module of buffer spaces for tools)

720 tool changer, changer-storage combination, tool store

750 robot accessories (exchange gripper, deburrer, storage box fortools)

770 application device

775 powder/media tank

777 feed/suction of powder/media

800 module for collecting chips

810 tilt mechanism

820 lifting mechanism

825 chip container

830 container cart

900 module for collecting or suctioning the used cooling lubricant fromthe machine tool

910 suction device

920 tank

930 filter (for chips in the cooling lubricant)

1000 machine tool

1010 prism

1020 standard suction

1030 enclosure

1035 optional cabin

1040 pallet holder receptacle

1041 device cone

1042 centering device for aligning the device

1043 media interface

1044 pallet cone

1045 centering device for aligning the pallet

1051 conical receptacle

1060 enclosure

1065 steel cover

1070 round door

1100 work spindle

1120 milling head

1150 grinding attachment

1180 tailstock attachment

1181 steady rest

1200 transverse element (machine tool)

1300 stand element (machine tool)

1350 machine bed

1400 chip collector/chip cart

1500 tool turret

1600 gantry loader

1610 gripper (gantry loader)

1700 circular store

1800 intermediate store for pallets

1850 feed device for pallets

2000 main computer control

3000 stationary robot

4000 setup station for pallet

5000 storage station for pallet

1. A transport device for receiving one or more module units havingmachine tool accessory devices and for transporting the one or morereceived module units to a machine tool set up on a base surface forusing the machine tool accessory devices of the one or more receivedmodule units at the machine tool, wherein the transport device is freelymovable on the base surface for positioning the one or more receivedmodule units relative to the machine tool, in particular within a regionin front of and/or next to the machine tool and/or in front of and/ornext to a work space of the machine tool.
 2. The transport deviceaccording to claim 1, characterized in that the transport device, bymeans of moving on the base surface, is configured to position the oneor more module units within a region in front of and/or next to the workspace of the machine tool along the spatial directions spanning theregion.
 3. The transport device according to claim 1, characterized byone or more receiving devices for receiving respective module units. 4.The transport device according to claim 3, characterized in that atleast one of the one or more receiving devices includes a centeringdevice configured to align the respectively received module unit withrespect to the receiving device.
 5. The transport device according toclaim 4, characterized in that the at least one of the one or morereceiving devices that includes a centering device also includes a drivefor linear displacement of the receiving device in the direction of thecentering device.
 6. The transport device according to claim 1,characterized in that at least one receiving device is provided on atleast one side of the transport device, preferably at least onereceiving device being provided on at least two sides of the transportdevice, particularly preferably at least one receiving device beingprovided on each side of the transport device.
 7. The transport deviceaccording to claim 3, characterized in that the module unit isconfigured to be deposited and/or docked by the transport unit on areceptacle of the machine tool configured to receive the module unit. 8.The transport device according to claim 3, characterized in that the oneor more receiving devices have connection elements, in particular forestablishing an electrical, hydraulic and/or pneumatic connection, inparticular for the transmission of control signals and/or energy fromthe transport device to the respective module unit.
 9. The transportdevice according to claim 8, characterized in that when the module unitis received, the connection elements automatically establish aconnection with the respective module unit for the transmission ofelectrical, pneumatic and/or hydraulic control signals and/or energy.10. The transport device according to claim 8, characterized in that thereceiving devices each have a control device for monitoring the state ofthe receptacle of the respective module unit, wherein the control deviceis configured to monitor the control signals, the energy transmission,and/or a locking state of the module unit received on the respectivereceiving device.
 11. The transport device according to claim 1,characterized in that the transport device comprises a driverlesstransport vehicle.
 12. The transport device according to claim 11,characterized by: a drive for moving the transport vehicle, and acontrol unit for controlling the transport device.
 13. The transportdevice according to claim 1, characterized by an internal energy storesupplying the transport device with energy, in particular electricalenergy.
 14. The transport device according to claim 1, characterized bya sensor unit comprising one or more optical, infrared and/or radarsensors for monitoring the environment of the transport device.
 15. Thetransport device according to claim 1, characterized by a plurality ofwheels for moving or displacing the transport device, wherein one, aplurality or all of the wheels of the transport device are individuallycontrollable and/or steerable, wherein preferably one, a plurality orall of the wheels of the transport device are configured as individuallycontrollable Mecanum wheels; and/or one or more drive chains for movingor displacing the transport device.
 16. The transport device accordingto claim 1, characterized in that that the transport device isconfigured to receive one of the one or more module units at a storagestation and to transport it from the storage station to the machinetool.
 17. The transport device according to claim 16, characterized inthat the transport device is configured to establish a connectionbetween one or more connection elements of the transport device and oneor more connection elements of the module unit when the respectivemodule units are received, in particular for the transmission of controlsignals and/or energy from the transport device to the module unit. 18.The transport device according to claim 1, characterized in that thetransport device is configured to communicate with an external controldevice, in particular with a central control device configured to beconnected to a plurality of transport devices at the same time, inparticular by means of a wireless communication link, and to control theplurality of transport devices, in particular by automatic remotecontrol.
 19. The transport device according to claim 1, characterized inthat the transport device is configured to communicate with a controldevice of the machine tool via a communication interface, in particularin such a way that the one or more received module units arecontrollable by the control device of the machine tool by means of acommunication link via the communication interface.
 20. The transportdevice according to claim 19, characterized in that the communicationinterface comprises a wireless communication interface and the transportdevice is configured to communicate with the control device of themachine tool by means of the wireless communication interface viawireless communication link.
 21. The transport device according to claim1, characterized in that the transport device includes a docking deviceand is configured to dock, by means of the docking device, at a dockingstation of the machine tool, a docking station of a setup station of amanufacturing system having the machine tool, and/or a docking stationof an automation device of a manufacturing system having the machinetool.
 22. The transport device according to claim 19, characterized inthat the transport device, in the state of being docked on the dockingstation of the machine tool having the communication interface, isconfigured to communicate with the control device of the machine toolvia the docking device coupled to the communication interface.
 23. Thetransport device according to claim 21, characterized in that thetransport device is configured to position itself and/or the one or morereceived module units with respect to the machine tool by docking at thedocking station of the machine tool, with respect to the setup stationby docking at the docking station of the setup station, and/or withrespect to the automation device by docking at the docking station ofthe automation device.
 24. The transport device according to claim 21,characterized in that the transport device is configured to move betweendocking stations of the manufacturing system, in particular comprisingmoving between docking stations of different machine tools of themanufacturing system.
 25. The transport device according to claim 21,characterized in that the docking device of the transport device isconfigured to raise and/or lower the transport device for docking at thedocking station.
 26. The transport device according to claim 1,characterized in that the transport device is configured to move to amodule loading station configured for the provision of module unitsand/or storage of module units, in particular to equip the transportdevice with one or more module units at the module loading stationand/or to exchange one or more modular units of the transport device atthe module loading station.
 27. The transport device according to claim1, characterized in that each of the one or more modular units includesa machine tool accessory device usable at the machine tool.
 28. Thetransport device according to claim 27, characterized in that themachine tool accessory device comprises: a handling device configured tohandle a pallet and/or a workpiece at the machine tool, an industrialrobot, in particular for handling tools, workpieces and/or workpiecepallets, a tool changing device for carrying out a tool change on themachine tool, a tool storage device or a tool magazine for providingtools at the machine tool, a tool storage device with a tool changingdevice for providing tools at the machine tool and for carrying out atool change at the machine tool, a workpiece changing device forcarrying out a workpiece change at the machine tool, a chip collectiondevice for collecting chips at the machine tool or in the work space ofthe machine tool, a chip conveyor device for removing chips from themachine tool or from the workspace of the machine tool, a workpieceloading device for loading workpieces at the machine tool, in particulara bar loader for use on a machine tool configured as a turning machine,a coolant supply device for supplying coolant at the machine tool, acoolant exchange device for exchanging coolant at the machine tool, aworkpiece measuring device for measuring a workpiece at the machinetool, in particular with an optical, electromagnetic and/or tactilemeasuring device, a workpiece deburring device for deburring a workpieceat the machine tool, a tool setup device for setting up tools at themachine tool, a tool dressing device for dressing tools at the machinetool, in particular for dressing grinding tools at the machine tool, atool sharpening device for sharpening tools at the machine tool, asuction device for suction in the work space of the machine tool, aworkpiece receptacle for receiving a workpiece, a conveyor device forconveying workpieces, in particular comprising one or more conveyorbelts or conveyor belt portions, a spare part exchange device forexchanging accessory parts or spare parts at the machine tool.
 29. Thetransport device according to claim 1, characterized in that the one ormore modular units comprise: a handling module unit with a handlingdevice configured to handle a pallet and/or a workpiece at the machinetool, a robot module unit with an industrial robot, in particular forhandling tools, workpieces and/or workpiece pallets, a tool changemodule unit with a tool change device for performing a tool change onthe machine tool, a tool storage module unit with a tool storage deviceor a tool magazine for providing tools at the machine tool, a toolstorage and tool changing module unit with a tool storage device with atool changing device for providing tools at the machine tool and forperforming a tool change on the machine tool, a workpiece changingmodule unit with a workpiece changing device for performing a workpiecechange on the machine tool, a chip collecting module unit with a chipcollecting device for collecting chips at the machine tool or in thework space of the machine tool, a chip conveying module unit with a chipconveying device for removing chips from the machine tool or from theworking space of the machine tool, a workpiece loading module unit witha workpiece loading device for loading workpieces at the machine tool,in particular a bar loader for use at a machine tool configured as aturning machine, a coolant supply module unit with a coolant supplydevice for supplying coolant to the machine tool, a coolant exchangemodule unit with a coolant exchange device for exchanging coolant at themachine tool, a workpiece measuring module unit with a workpiecemeasuring device for measuring a workpiece at the machine tool, inparticular with an optical, electromagnetic and/or tactile measuringdevice, a workpiece deburring module unit with a workpiece deburringdevice for deburring a workpiece at the machine tool, a tool setupmodule unit with a tool setup device for setting up tools at the machinetool, a tool dressing module unit with a tool dressing device fordressing tools at the machine tool, in particular for dressing grindingtools at the machine tool, a tool sharpening module unit with a toolsharpening device for sharpening tools at the machine tool, a suctionmodule unit with a suction device for suction in the work space of themachine tool, a workpiece receptacle module unit with a workpiecereceptacle for receiving a workpiece, a conveyor module unit with aconveyor device for conveying workpieces, in particular comprising oneor more conveyor belts or conveyor belt portions, a spare parts exchangemodule unit with a spare parts exchange device for exchanging accessoryparts or spare parts at the machine tool.
 30. A system, comprising: oneor more transport devices according to claim 1, and a central controldevice configured to be connected to the one or more transport devices,in particular by means of a wireless communication link, and to controlthe plurality of transport devices, in particular by automatic remotecontrol.
 31. The system according to claim 30, characterized by: amodule loading station configured to provide module units and/or storageof module units, in particular to equip the one or more transportdevices with one or more module units at the module loading stationand/or to exchange one or more module units of the one or more transportdevices at the module loading station.